| commit | 99dda687e44d5a86918310a29daa927dbf8c6abc | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Mar 11 00:18:37 2023 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Mar 11 12:41:06 2023 -0800 |
| tree | 5b6c8fa557637598624abcf30285b5dcbe8303de | |
| parent | 60122315451043fa746626273631576354150ace [diff] |
All the setpoints and tip scoring paths This introduces the concept of a scoring trajectory so we can score the tip cones. Change-Id: Id1fefe37e916bf02956250b59b704363deda7ad3 Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/drivetrain/drivetrain_base.cc b/y2023/control_loops/drivetrain/drivetrain_base.cc index e8fdb3c..4efba61 100644 --- a/y2023/control_loops/drivetrain/drivetrain_base.cc +++ b/y2023/control_loops/drivetrain/drivetrain_base.cc
@@ -75,7 +75,8 @@ 10.0 / ::std::pow(12.0, 2)) .finished() .asDiagonal()), - .max_controllable_offset = 0.5}}; + .max_controllable_offset = 0.5}, + }; return kDrivetrainConfig; };