Austin update the closed dt loop to keep valid estimates of velocity. we then use these in shoot action to set an offset in claw angle for shooting at velocity.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 9a6828f..48519ff 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -71,7 +71,9 @@
0.9, // start_fine_tune_pos
4.0,
},
- {0.01, 0.1} // shooter_action
+ {0.01, 0.1}, // shooter_action
+ 0.02, // drivetrain done delta
+ 5.0 // drivetrain max speed
};
break;
case kCompTeamNumber:
@@ -105,7 +107,9 @@
4.0,
},
//TODO(james): Get realer numbers for shooter_action.
- {0.01, 0.1} // shooter_action
+ {0.01, 0.1}, // shooter_action
+ 0.02, // drivetrain done delta
+ 5.0 // drivetrain max speed
};
break;
case kPracticeTeamNumber:
@@ -119,7 +123,6 @@
control_loops::MakeVDogDrivetrainLoop,
control_loops::MakeDogDrivetrainLoop,
// ShooterLimits
- // TODO(ben): make these real numbers
{-0.001042, 0.294084, -0.001935, 0.303460, 0.0138401,
{-0.002, 0.000446, -0.002, 0.000446},
{-0.002, 0.009078, -0.002, 0.009078},
@@ -141,7 +144,9 @@
4.000000,
},
//TODO(james): Get realer numbers for shooter_action.
- {0.01, 0.1} // shooter_action
+ {0.01, 0.1}, // shooter_action
+ 0.02, // drivetrain done delta
+ 5.0 // drivetrain max speed
};
break;
default: