tweaked various numbers
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index e7c48a5..13aeb51 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -421,8 +421,6 @@
SetDriveGoal(kDistanceToCenterMeters);
if (ShouldExitAuto()) return;
- return;
-
ShootNDiscs(4);
if (ShouldExitAuto()) return;
} else {
@@ -441,11 +439,11 @@
WaitForIndex(); // ready to pick up discs
// How long we're going to drive in total.
- static const double kDriveDistance = 2.8;
+ static const double kDriveDistance = 2.84;
// How long to drive slowly to pick up the 2 disks under the pyramid.
static const double kFirstDrive = 0.4;
// How long to drive slowly to pick up the last 2 disks.
- static const double kLastDrive = 0.3;
+ static const double kLastDrive = 0.34;
// How fast to drive when picking up disks.
static const double kPickupVelocity = 0.6;
// Where to take the second set of shots from.
diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index df822e2..cea8883 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -20,7 +20,7 @@
// For purposes of moving the end up/down by a certain amount, the wrist is 18
// inches long.
const double kCompWristHallEffectStartAngle = 1.285;
-const double kPracticeWristHallEffectStartAngle = 1.168;
+const double kPracticeWristHallEffectStartAngle = 1.185;
const double kCompWristHallEffectStopAngle = 100 * M_PI / 180.0;
const double kPracticeWristHallEffectStopAngle = 100 * M_PI / 180.0;
diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index d9db969..ce9b6ac 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -182,9 +182,10 @@
// pretend like no button is pressed
}
#endif
+ // This shot is from 30'.
shooter_goal->velocity = 360;
if (!hopper_clear) wrist_up_position = 1.23 - 0.4;
- angle_adjust_goal = 0.596;
+ angle_adjust_goal = 0.630;
} else if (data.IsPressed(kMediumShot)) {
#if 0
shooter_goal->velocity = 375;