Lower the acceleration on the intake when jiggling the balls
This should reduce wear on the pin in the intake by being less
aggressive. Removing the jiggling causes balls to get stuck. It
doesn't need to be aggressive to be effective.
Change-Id: If03b971bb49e64d8e81465cb5be9f4c5c583b99a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/profiled_subsystem.h b/frc971/control_loops/profiled_subsystem.h
index 6780e3b..86e608c 100644
--- a/frc971/control_loops/profiled_subsystem.h
+++ b/frc971/control_loops/profiled_subsystem.h
@@ -192,6 +192,9 @@
const ::frc971::constants::Range &range() const { return range_; }
+ double default_velocity() const { return default_velocity_; }
+ double default_acceleration() const { return default_acceleration_; }
+
protected:
// Limits the provided goal to the soft limits. Prints "name" when it fails
// to aid debugging.