Let the turret free!
Give it full voltage and a better profile.
Change-Id: I5e6d0ae099ae0de481c0dae5b52d76038cd78468
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.cc b/y2022/constants.cc
index a380a4e..873c47f 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -68,7 +68,7 @@
auto *const turret_params = &turret->subsystem_params;
turret_params->zeroing_voltage = 4.0;
- turret_params->operating_voltage = 4.0;
+ turret_params->operating_voltage = 12.0;
turret_params->zeroing_profile_params = {0.5, 2.0};
turret_params->default_profile_params = {15.0, 40.0};
turret_params->range = Values::kTurretRange();
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 415fc67..db3b6a5 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -253,7 +253,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*builder.fbb(), turret_pos,
- CreateProfileParameters(*builder.fbb(), 1.0, 10.0));
+ CreateProfileParameters(*builder.fbb(), 12.0, 20.0));
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
catapult_return_offset =