commit 96d9ceae5152c1430d6441d6ffe47fcc9668b2e1
author Brian Silverman <brians> Tue Nov 12 21:10:50 2013 -0800
committer Brian Silverman <brians> Tue Nov 12 21:10:50 2013 -0800
tree b6c7e0168360e734152e249c61dd9b96707acb6e
parent 98e1ab6187c8b4447ad00296fa691d963903fc79

various small tweaks/fixes from Madtown

frc971/control_loops/drivetrain/drivetrain.cc

diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 921fab0..71af487 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -106,7 +106,6 @@
     _gyro = gyro;
     _control_loop_driving = control_loop_driving;
     SetRawPosition(left, right);
-    //LOG(DEBUG, "Left %f->%f Right %f->%f Gyro %f aerror %f ioff %f\n", left + _offset, _left_goal, right - _offset, _right_goal, gyro, angle_error, _integral_offset);
   }
 
   void Update(bool update_observer, bool stop_motors) {
@@ -524,8 +523,6 @@
   }
 
   void SendMotors(Drivetrain::Output *output) {
-    LOG(DEBUG, "left pwm: %f right pwm: %f wheel: %f throttle: %f\n",
-        loop_->U(0, 0), loop_->U(1, 0), wheel_, throttle_);
     if (output != NULL) {
       output->left_voltage = loop_->U(0, 0);
       output->right_voltage = loop_->U(1, 0);
@@ -738,6 +735,7 @@
     const double left_encoder = position->left_encoder;
     const double right_encoder = position->right_encoder;
     if (gyro.FetchLatest()) {
+      LOG(DEBUG, "gyro %f\n", gyro->angle);
       dt_closedloop.SetPosition(left_encoder, right_encoder, gyro->angle,
                                 control_loop_driving);
     } else {

frc971/control_loops/index/index.cc

diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index b36d517..9a03657 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -110,7 +110,7 @@
 /*static*/ const int IndexMotor::kGrabbingDelay = 5;
 /*static*/ const int IndexMotor::kLiftingDelay = 5;
 /*static*/ const int IndexMotor::kLiftingTimeout = 100;
-/*static*/ const int IndexMotor::kShootingDelay = 10;
+/*static*/ const int IndexMotor::kShootingDelay = 25;
 /*static*/ const int IndexMotor::kLoweringDelay = 4;
 /*static*/ const int IndexMotor::kLoweringTimeout = 120;
 

frc971/control_loops/zeroed_joint.h

diff --git a/frc971/control_loops/zeroed_joint.h b/frc971/control_loops/zeroed_joint.h
index 0fbe33e..26dfc91 100644
--- a/frc971/control_loops/zeroed_joint.h
+++ b/frc971/control_loops/zeroed_joint.h
@@ -263,7 +263,7 @@
 
 template <int kNumZeroSensors>
 const ::aos::time::Time ZeroedJoint<kNumZeroSensors>::kRezeroTime =
-    ::aos::time::Time::InSeconds(10);
+    ::aos::time::Time::InSeconds(2);
 
 template <int kNumZeroSensors>
 /*static*/ const double ZeroedJoint<kNumZeroSensors>::dt = 0.01;