commit ad9e0009374ee979e7a9a0e52b9210aef1770042
author Brian Silverman <brians> Sun Apr 13 14:55:57 2014 -0700
committer Brian Silverman <brians> Sun Apr 13 14:55:57 2014 -0700
tree 316780b7ced88f8a585aa34a8727e5638f3becf5
parent 06b663d4c987f20a5fb1005c744d1473619e08be

got 2 balls in 2 goal auto working

frc971/constants.cc

diff --git a/frc971/constants.cc b/frc971/constants.cc
index 6057756..829d147 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -37,6 +37,8 @@
 const ShifterHallEffect kPracticeRightDriveShifter{550, 640, 635, 550, 0.2, 0.7};
 const ShifterHallEffect kPracticeLeftDriveShifter{540, 620, 640, 550, 0.2, 0.7};
 
+const double kRobotWidth = 25.0 / 100.0 * 2.54;
+
 const double shooter_zeroing_speed = 0.05;
 const double shooter_unload_speed = 0.08;
 
@@ -53,6 +55,7 @@
           kCompLeftDriveShifter,
           kCompRightDriveShifter,
           false,
+          0.5,
           control_loops::MakeVelocityDrivetrainLoop,
           control_loops::MakeDrivetrainLoop,
           // ShooterLimits
@@ -88,6 +91,7 @@
           kCompLeftDriveShifter,
           kCompRightDriveShifter,
           false,
+          kRobotWidth,
           control_loops::MakeVelocityDrivetrainLoop,
           control_loops::MakeDrivetrainLoop,
           // ShooterLimits
@@ -132,6 +136,7 @@
           kPracticeLeftDriveShifter,
           kPracticeRightDriveShifter,
           false,
+          kRobotWidth,
           control_loops::MakeVelocityDrivetrainLoop,
           control_loops::MakeDrivetrainLoop,
           // ShooterLimits