Merge "Respect --coredump flag when going RT"
diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index bf54f60..4e97dde 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -454,9 +454,9 @@
point = self.mousex, self.mousey
# This restricts the amount it can be scaled.
- if self.transform.xx <= 0.4:
+ if self.transform.xx <= 0.75:
scale = max(scale, 1)
- elif self.transform.xx >= 4:
+ elif self.transform.xx >= 16:
scale = min(scale, 1)
# move the origin to point
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 1ef9073..088c98c 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -38,10 +38,11 @@
{1.4732, {0.10, 10.6}},
{2.5, {0.36, 12.0}},
{3.50, {0.43, 13.2}},
- {4.7371, {0.535, 14.2}},
- {5.27, {0.53, 14.55}},
- {6.332, {0.53, 15.2}},
- {7.48, {0.55, 17.0}},
+ {3.93, {0.44, 13.2}},
+ {4.7371, {0.475, 14.2}},
+ {5.31, {0.51, 14.6}},
+ {6.332, {0.525, 15.2}},
+ {7.35, {0.52, 17.0}},
{8.30, {0.565, 17.0}},
{9.20, {0.535, 17.0}}});
@@ -57,7 +58,7 @@
{16.1, {425.0, kVelocityFinisher}},
{16.3, {450.0, kVelocityFinisher}},
{16.6, {475.0, kVelocityFinisher}},
- {17.0, {500.0, kVelocityFinisher}}});
+ {17.0, {500.0, kVelocityFinisher + 25}}});
// Hood constants.
hood->zeroing_voltage = 2.0;
@@ -144,9 +145,9 @@
turret_params->zeroing_constants.measured_absolute_position =
2.75051496009509;
- hood->zeroing_constants.measured_absolute_position = 0.0344482433884915;
+ hood->zeroing_constants.measured_absolute_position = 0.0482502438525903,
hood->zeroing_constants.single_turn_measured_absolute_position =
- 0.31055891442198;
+ 0.302574797776192;
break;
case Values::kPracticeTeamNumber:
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 86dcbb1..4c5f235 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -238,6 +238,12 @@
output_struct.climber_voltage =
std::clamp(unsafe_goal->climber_voltage(), -12.0f, 12.0f);
+ // Make sure the turret is relatively close to the goal before turning the
+ // climber on.
+ if (std::abs(turret_.goal(0) - turret_.position()) > 0.1) {
+ output_struct.climber_voltage = 0;
+ }
+
if (unsafe_goal->shooting() || unsafe_goal->intake_preloading()) {
preloading_timeout_ = position_timestamp + kPreloadingTimeout;
}
diff --git a/y2020/control_loops/superstructure/turret/aiming.cc b/y2020/control_loops/superstructure/turret/aiming.cc
index 94047d2..c5daf22 100644
--- a/y2020/control_loops/superstructure/turret/aiming.cc
+++ b/y2020/control_loops/superstructure/turret/aiming.cc
@@ -48,7 +48,7 @@
// exactly perpendicular to the target. Larger numbers allow us to aim at the
// inner port more aggressively, at the risk of being more likely to miss the
// outer port entirely.
-constexpr double kMaxInnerPortAngle = 10.0 * M_PI / 180.0;
+constexpr double kMaxInnerPortAngle = 15.0 * M_PI / 180.0;
// Distance (in meters) from the edge of the field to the port, with some
// compensation to ensure that our definition of where the target is matches
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 1b061e5..b92126a 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -39,11 +39,9 @@
// TODO(sabina): fix button locations.
-const ButtonLocation kShootFast(3, 16);
const ButtonLocation kAutoTrack(3, 3);
const ButtonLocation kAutoNoHood(3, 5);
const ButtonLocation kHood(3, 2);
-const ButtonLocation kShootSlow(4, 2);
const ButtonLocation kFixedTurret(3, 1);
const ButtonLocation kFeed(4, 1);
const ButtonLocation kFeedDriver(1, 2);
@@ -189,17 +187,6 @@
accelerator_speed = setpoint_fetcher_->accelerator();
finisher_speed = setpoint_fetcher_->finisher();
}
- } else if (data.IsPressed(kShootFast)) {
- if (setpoint_fetcher_.get()) {
- accelerator_speed = setpoint_fetcher_->accelerator();
- finisher_speed = setpoint_fetcher_->finisher();
- } else {
- accelerator_speed = 250.0;
- finisher_speed = 500.0;
- }
- } else if (data.IsPressed(kShootSlow)) {
- accelerator_speed = 180.0;
- finisher_speed = 300.0;
}
if (data.IsPressed(kIntakeExtend) || data.IsPressed(kIntakeExtendDriver)) {