commit 83cdd8a241a97d8939464acd0ae77b7313c65b57
author Austin Schuh <austin.linux@gmail.com> Wed Mar 21 20:49:02 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 21 21:35:34 2018 -0700
tree a539ec75cb7aec637371a0e7864d049851f8f6cb
parent c231df4844645f8438b1331ddaf28fe4f11ee88a

Adjust the button behavior and arm locations.

Change-Id: Ide2e4d3a8b22602501547d721cca1c7a7e4f3e8f

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 4609827..3f48cc9 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -71,7 +71,7 @@
 
  private:
   bool AtState(uint32_t state) const { return current_node_ == state; }
-  bool NearEnd(double threshold = 0.02) const {
+  bool NearEnd(double threshold = 0.03) const {
     return ::std::abs(arm_ekf_.X_hat(0) - follower_.theta(0)) <= threshold &&
            ::std::abs(arm_ekf_.X_hat(2) - follower_.theta(1)) <= threshold &&
            follower_.path_distance_to_go() < 1e-3;