Fix the wrist upper limit
With an upper limit of 1.0 the wrist cannot shoot properly.
It needs to be at at least 1.7 or so (i.e. PI/2) to shoot
horizontally.
Change-Id: I4be379f358e7eb6d633996da099c60a26c8f0daa
diff --git a/y2016/constants.h b/y2016/constants.h
index c2fc4ca..87b56cf 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -64,7 +64,7 @@
1.9};
static constexpr ::frc971::constants::Range kShoulderRange{-0.050, 2.0, 0.000,
1.9};
- static constexpr ::frc971::constants::Range kWristRange{-2.0, 2.0, -1.9, 1.0};
+ static constexpr ::frc971::constants::Range kWristRange{-2.0, 2.0, -1.9, 1.9};
// ///// Dynamic constants. /////
double drivetrain_max_speed;
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index f141f9b..2479cc3 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -420,12 +420,12 @@
superstructure_plant_.InitializeWristPosition(
constants::Values::kWristRange.lower);
ASSERT_TRUE(superstructure_queue_.goal.MakeWithBuilder()
- .angle_intake(constants::Values::kIntakeRange.lower)
- .angle_shoulder(constants::Values::kShoulderRange.lower)
- .angle_wrist(constants::Values::kWristRange.lower)
+ .angle_intake(constants::Values::kIntakeRange.upper)
+ .angle_shoulder(constants::Values::kShoulderRange.upper)
+ .angle_wrist(constants::Values::kWristRange.upper)
.Send());
// We have to wait for it to put the elevator in a safe position as well.
- RunForTime(Time::InSeconds(10));
+ RunForTime(Time::InSeconds(15));
VerifyNearGoal();
}
@@ -444,7 +444,7 @@
.angle_wrist(constants::Values::kWristRange.lower)
.Send());
// We have to wait for it to put the elevator in a safe position as well.
- RunForTime(Time::InSeconds(10));
+ RunForTime(Time::InSeconds(15));
VerifyNearGoal();
}
@@ -463,7 +463,7 @@
.angle_shoulder(constants::Values::kShoulderRange.lower + 0.3)
.angle_wrist(constants::Values::kWristRange.lower + 0.3)
.Send());
- RunForTime(Time::InSeconds(10));
+ RunForTime(Time::InSeconds(15));
EXPECT_EQ(Superstructure::RUNNING, superstructure_.state());
VerifyNearGoal();