commit 79903e885b2e88161fed67a05de6a5105d4003ce
author Austin Schuh <austin.linux@gmail.com> Sun Apr 07 23:12:00 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 20:22:16 2024 -0700
tree d784e0f7357f13338a1bcbfd9003f64bab444d3f
parent 9f609ff3a06069fe965e304de7a7c17d56e256cf

Tune speaker & shuttle shots

Includes ability to have more "stable" auto-aim shuttle shot that does
not rely on x/y of localizer.

Change-Id: I6b76cd8f8436b61bb2f40966dfa8e28a44e85297
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/control_loops/superstructure/superstructure.cc

diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index e22dc80..a485943 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -17,7 +17,8 @@
 constexpr double kExtendThreshold = 0.01;
 
 constexpr double kTurretLoadingThreshold = 0.05;
-constexpr double kAltitudeLoadingThreshold = 0.02;
+// Extra large so that we can survive loss of zeroes.
+constexpr double kAltitudeLoadingThreshold = 0.04;
 
 constexpr std::chrono::milliseconds kExtraIntakingTime =
     std::chrono::milliseconds(500);