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/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index f62109c..d3c2464 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -113,6 +113,7 @@
}
if (unsafe_goal->shooting()) {
+ intake_joint_.set_max_acceleration(30.0);
constexpr std::chrono::milliseconds kPeriod =
std::chrono::milliseconds(250);
if ((position_timestamp - shooting_start_time_) % (kPeriod * 2) <
@@ -122,6 +123,7 @@
intake_joint_.set_min_position(-0.75);
}
} else {
+ intake_joint_.clear_max_acceleration();
intake_joint_.clear_min_position();
}