Changed butterknife's constants to fix drivetrain.
Fixed test.
Change-Id: I1474ea42e2b613a9e87438a472159e7087669001
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;