commit a719bf1010f1436a491827fd76c222effddeab58
author Austin Schuh <austin@peloton-tech.com> Sun Mar 09 00:45:02 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 09 00:45:02 2014 -0800
tree a48525c94d60f84dff055896ddbde818b4a63e8e
parent 287d98e8f2d45e0cbb35fc2ce243749bf6ab820a

Catch now works.

frc971/actions/catch_action.h

diff --git a/frc971/actions/catch_action.h b/frc971/actions/catch_action.h
index cdecef0..56c5f42 100644
--- a/frc971/actions/catch_action.h
+++ b/frc971/actions/catch_action.h
@@ -14,10 +14,10 @@
   // it.
   virtual void RunAction();
 
-  static constexpr double kCatchSeparation = 1.0;
-  static constexpr double kCatchMinSeparation = 0.6;
+  static constexpr double kCatchSeparation = 0.8;
+  static constexpr double kCatchMinSeparation = 0.65;
   static constexpr double kCatchIntake = 12.0;
-  static constexpr double kSonarTriggerDist = 0.8;
+  static constexpr double kSonarTriggerDist = 0.725;
   static constexpr double kCatchCentering = 12.0;
   static constexpr double kFinishAngle = 0.2;
 
@@ -32,6 +32,9 @@
   bool DoneClawWithBall();
   // hall effect reports the ball is in
   bool DoneBallIn();
+
+ private:
+  int close_count_;
 };
 
 }  // namespace actions