commit 94a5237117053319b52d603181f13388e720696e
author Adam Snaider <adsnaider@gmail.com> Wed Oct 19 20:06:01 2016 -0700
committer Adam Snaider <adsnaider@gmail.com> Sun Oct 23 17:05:42 2016 -0700
tree c87cac56ae4d7be56f3266caaa3b21d2efc769f3
parent 63c37672292e9ca2e4fda6e2299efa34043a8547

Changed butterknife's constants to fix drivetrain.

Fixed test.

Change-Id: I1474ea42e2b613a9e87438a472159e7087669001

frc971/control_loops/drivetrain/drivetrain_config.h

diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h
index 24cc628..efb5f59 100644
--- a/frc971/control_loops/drivetrain/drivetrain_config.h
+++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -51,6 +51,10 @@
   bool default_high_gear;
 
   double down_offset;
+
+  double wheel_non_linearity;
+
+  double quickturn_wheel_multiplier;
 };
 
 }  // namespace drivetrain

frc971/control_loops/drivetrain/drivetrain_lib_test.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
index aa18aec..8c739cd 100644
--- a/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
+++ b/frc971/control_loops/drivetrain/drivetrain_lib_test.cc
@@ -49,7 +49,13 @@
 
       ::y2016::control_loops::drivetrain::kHighGearRatio,
       ::y2016::control_loops::drivetrain::kLowGearRatio,
-      kThreeStateDriveShifter, kThreeStateDriveShifter, false, 0};
+      kThreeStateDriveShifter,
+      kThreeStateDriveShifter,
+      false,
+      0,
+
+      0.25,
+      1.00};
 
   return kDrivetrainConfig;
 };
@@ -88,8 +94,7 @@
   // Constructs a motor simulation.
   // TODO(aschuh) Do we want to test the clutch one too?
   DrivetrainSimulation()
-      : drivetrain_plant_(
-            new DrivetrainPlant(MakeDrivetrainPlant())),
+      : drivetrain_plant_(new DrivetrainPlant(MakeDrivetrainPlant())),
         my_drivetrain_queue_(".frc971.control_loops.drivetrain", 0x8a8dde77,
                              ".frc971.control_loops.drivetrain.goal",
                              ".frc971.control_loops.drivetrain.position",

frc971/control_loops/drivetrain/polydrivetrain.cc

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 121a231..407c23b 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -112,15 +112,18 @@
   const bool quickturn = goal.quickturn;
   const bool highgear = goal.highgear;
 
-  const double kWheelNonLinearity = 0.25;
   // Apply a sin function that's scaled to make it feel better.
-  const double angular_range = M_PI_2 * kWheelNonLinearity;
+  const double angular_range = M_PI_2 * dt_config_.wheel_non_linearity;
 
   wheel_ = sin(angular_range * wheel) / sin(angular_range);
   wheel_ = sin(angular_range * wheel_) / sin(angular_range);
   wheel_ = 2.0 * wheel - wheel_;
   quickturn_ = quickturn;
 
+  if (!quickturn_) {
+    wheel_ *= dt_config_.quickturn_wheel_multiplier;
+  }
+
   static const double kThrottleDeadband = 0.05;
   if (::std::abs(throttle) < kThrottleDeadband) {
     throttle_ = 0;