commit 959d202a800e2f879ebb5a1cedccb1d7aa4be6a2
author Austin Schuh <austin.linux@gmail.com> Sun Mar 29 13:51:11 2015 -0700
committer Brian Silverman <brians> Mon Mar 30 14:21:50 2015 -0400
tree 62703dd52e659848fd93499be3f8f695624fec3a
parent 45ee2c5ba7c78cc834f6b36414ef0b29278d2384

No longer lower the claw in as many places and stack faster.

Change-Id: Iff72d608917cab6e97acd6b0532b1be9c60d2913

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 26298b0..f1d71fd 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -106,12 +106,12 @@
 // Set stack down in the bot.
 const POVLocation kSetStackDownAndHold(4, 90);
 
-const double kClawTotePackAngle = 0.95;
+const double kClawTotePackAngle = 0.90;
 const double kArmRaiseLowerClearance = -0.08;
 const double kClawStackClearance = 0.55;
 
-const double kStackUpHeight = 0.55;
-const double kStackUpArm = 0.1;
+const double kStackUpHeight = 0.60;
+const double kStackUpArm = 0.0;
 
 class Reader : public ::aos::input::JoystickInput {
  public:
@@ -271,13 +271,13 @@
 
     if (data.PosEdge(kStackAndLift)) {
       actors::StackAndLiftParams params;
-      params.stack_params.claw_out_angle = kClawStackClearance;
+      params.stack_params.claw_out_angle = kClawTotePackAngle;
       params.stack_params.bottom = 0.020;
       params.stack_params.over_box_before_place_height = 0.39;
       params.stack_params.arm_clearance = kArmRaiseLowerClearance;
 
       params.grab_after_stack = true;
-      params.clamp_pause_time = 0.1;
+      params.clamp_pause_time = 0.0;
       params.lift_params.lift_height = kStackUpHeight;
       params.lift_params.lift_arm = kStackUpArm;
       params.grab_after_lift = true;
@@ -296,7 +296,7 @@
       params.claw_clamp_angle = kClawTotePackAngle;
 
       params.hold_height = 0.68;
-      params.claw_out_angle = kClawStackClearance;
+      params.claw_out_angle = kClawTotePackAngle;
 
       if (data.PosEdge(kSetStackDownAndHold)) {
         params.place_not_stack = true;
@@ -316,11 +316,11 @@
     // Lower the fridge from holding the stack, grab the stack, and then lift.
     if (data.PosEdge(kHeldToLift)) {
       actors::HeldToLiftParams params;
-      params.arm_clearance = kArmRaiseLowerClearance;
+      params.arm_clearance = kClawStackClearance;
       params.clamp_pause_time = 0.1;
       params.before_lift_settle_time = 0.1;
       params.bottom_height = 0.020;
-      params.claw_out_angle = kClawStackClearance;
+      params.claw_out_angle = kClawTotePackAngle;
       params.lift_params.lift_height = kStackUpHeight;
       params.lift_params.lift_arm = kStackUpArm;
       fridge_closed_ = true;
@@ -359,7 +359,7 @@
     // Place stack on a tote in the tray, and grab it.
     if (data.PosEdge(kStack)) {
       actors::StackParams params;
-      params.claw_out_angle = kClawStackClearance;
+      params.claw_out_angle = kClawTotePackAngle;
       params.bottom = 0.020;
       params.only_place = false;
       params.arm_clearance = kArmRaiseLowerClearance;