Update the sensor ratios
Pull sensor output ratios from the cad. This process found that the
hood was being operated in such a way that the hood encoder was blowing
past 360 degrees and wrapping. So fix that too.
Change-Id: I896458bb81461e7f032a464faa0b78e07d257c10
diff --git a/y2020/control_loops/superstructure/superstructure_status.fbs b/y2020/control_loops/superstructure/superstructure_status.fbs
index 023a242..e8f7637 100644
--- a/y2020/control_loops/superstructure/superstructure_status.fbs
+++ b/y2020/control_loops/superstructure/superstructure_status.fbs
@@ -21,7 +21,7 @@
finisher:FlywheelControllerStatus;
// The subsystem to accelerate the ball before the finisher
- // Velocity is the slowest (lowest) wheel
+ // Velocity is the fastest (top) wheel
accelerator_left:FlywheelControllerStatus;
accelerator_right:FlywheelControllerStatus;
}
@@ -33,7 +33,7 @@
// If true, we have aborted. This is if one or all subsystem estops.
estopped:bool;
- //Subsystem status.
+ // Subsystem status.
hood:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
intake:frc971.control_loops.AbsoluteEncoderProfiledJointStatus;
turret:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus;