commit b39a21ccebb596ea21343410177408cbbe3681dc
author Austin Schuh <austin.linux@gmail.com> Wed Mar 31 20:12:18 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 31 22:15:17 2021 -0700
tree 9593082e75657096d7d35015eb05899a0ed4227f
parent 8806bed48e48a606f0d71ed655bff6b06ec43985

Speed up intake in auto

This gets the intake out fast enough to pick the ball up.

Change-Id: Ie3c1386424475d4800699200e6412e764b61f7ba

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 1c0f040..c78a33f 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -295,8 +295,8 @@
 
     frc971::ProfileParameters::Builder profile_params_builder =
         builder.MakeBuilder<frc971::ProfileParameters>();
-    profile_params_builder.add_max_velocity(10.0);
-    profile_params_builder.add_max_acceleration(30.0);
+    profile_params_builder.add_max_velocity(20.0);
+    profile_params_builder.add_max_acceleration(60.0);
     flatbuffers::Offset<frc971::ProfileParameters> profile_params_offset =
         profile_params_builder.Finish();
     intake_builder.add_unsafe_goal(intake_goal_);