Increase shot power and range
We can now shoot from further away. This change also sets us up so we
can shoot from off center better too.
The acceleration plant wasn't matching the deceleration plant very well
since the note was going away and we were fighting efficiency the other
way. Gain schedule to a different set of gains when decelerating the
cataputl.
Change-Id: Ie1955226e7148e10b447084ec04cc5bf7e91e78a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/control_loops/superstructure/aiming.cc b/y2024/control_loops/superstructure/aiming.cc
index a21c09d..bf68527 100644
--- a/y2024/control_loops/superstructure/aiming.cc
+++ b/y2024/control_loops/superstructure/aiming.cc
@@ -8,9 +8,6 @@
using frc971::control_loops::aiming::ShotMode;
using y2024::control_loops::superstructure::Aimer;
-// When the turret is at 0 the note will be leaving the robot at PI.
-static constexpr double kTurretZeroOffset = M_PI - 0.22;
-
Aimer::Aimer(aos::EventLoop *event_loop,
const y2024::Constants *robot_constants)
: event_loop_(event_loop),
@@ -76,7 +73,7 @@
robot_constants_->common()->turret()->range()),
interpolation_table_.Get(current_goal_.target_distance)
.shot_speed_over_ground,
- /*wrap_mode=*/0.15, kTurretZeroOffset},
+ /*wrap_mode=*/0.15, M_PI - kTurretZeroOffset},
RobotState{
robot_pose, {xdot, ydot}, linear_angular(1), current_goal_.position});