Fixed drivetrain hall effects to use the dual hall effect setup.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 48519ff..06e1556 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -31,11 +31,11 @@
const double kPracticeLowGearRatio = 16.0 / 60.0 * 19.0 / 50.0;
const double kPracticeHighGearRatio = 28.0 / 48.0 * 19.0 / 50.0;
-const ShifterHallEffect kCompLeftDriveShifter{0.83, 2.32, 1.2, 1.0};
-const ShifterHallEffect kCompRightDriveShifter{0.865, 2.375, 1.2, 1.0};
+const ShifterHallEffect kCompRightDriveShifter{525, 635, 603, 529, 0.3, 0.7};
+const ShifterHallEffect kCompLeftDriveShifter{525, 645, 620, 533, 0.3, 0.7};
-const ShifterHallEffect kPracticeRightDriveShifter{2.575, 3.16, 0.98, 0.40};
-const ShifterHallEffect kPracticeLeftDriveShifter{2.57, 3.15, 0.98, 0.4};
+const ShifterHallEffect kPracticeRightDriveShifter{550, 640, 635, 550, 0.2, 0.7};
+const ShifterHallEffect kPracticeLeftDriveShifter{540, 620, 640, 550, 0.2, 0.7};
const double shooter_zeroing_speed = 0.05;
const double shooter_unload_speed = 0.08;
@@ -71,7 +71,7 @@
0.9, // start_fine_tune_pos
4.0,
},
- {0.01, 0.1}, // shooter_action
+ {0.07, 0.15}, // shooter_action
0.02, // drivetrain done delta
5.0 // drivetrain max speed
};
@@ -107,7 +107,7 @@
4.0,
},
//TODO(james): Get realer numbers for shooter_action.
- {0.01, 0.1}, // shooter_action
+ {0.07, 0.15}, // shooter_action
0.02, // drivetrain done delta
5.0 // drivetrain max speed
};
@@ -144,7 +144,7 @@
4.000000,
},
//TODO(james): Get realer numbers for shooter_action.
- {0.01, 0.1}, // shooter_action
+ {0.07, 0.15}, // shooter_action
0.02, // drivetrain done delta
5.0 // drivetrain max speed
};