commit b53df1a8f086e752a7e6e74714f2bef361933337
author Austin Schuh <austin@peloton-tech.com> Sun Mar 15 00:57:08 2015 -0700
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 15 16:14:49 2015 -0700
tree 1486711105e7ca4d114fb805abea8183e6b38581
parent a2ae62dfa515c878ce9e0a9f9ebc5503333aa695

Sped up stacking.

Change-Id: I39df68c05337200524ba860e0bf38d051c26f9f6

frc971/actors/stack_actor.cc

diff --git a/frc971/actors/stack_actor.cc b/frc971/actors/stack_actor.cc
index 6f350d3..a820f77 100644
--- a/frc971/actors/stack_actor.cc
+++ b/frc971/actors/stack_actor.cc
@@ -11,7 +11,8 @@
 namespace frc971 {
 namespace actors {
 namespace {
-constexpr ProfileParams kSlowArmMove{0.8, 1.4};
+constexpr ProfileParams kReallySlowArmMove{0.75, 0.75};
+constexpr ProfileParams kSlowArmMove{1.3, 1.4};
 constexpr ProfileParams kSlowElevatorMove{0.5, 3.0};
 constexpr ProfileParams kReallySlowElevatorMove{0.10, 1.0};
 
@@ -26,12 +27,12 @@
   const auto &values = constants::GetValues();
 
   // Set the current stack down on top of the bottom box.
-  DoFridgeProfile(params.over_box_before_place_height, 0.0, kSlowArmMove,
-                  kReallySlowElevatorMove, true);
+  DoFridgeProfile(params.over_box_before_place_height, 0.0, kSlowElevatorMove,
+                  kReallySlowArmMove, true);
   if (ShouldCancel()) return true;
   // Set down on the box.
-  DoFridgeProfile(params.bottom + values.tote_height, 0.0, kSlowArmMove,
-                  kSlowElevatorMove, true);
+  DoFridgeProfile(params.bottom + values.tote_height, 0.0, kSlowElevatorMove,
+                  kSlowArmMove, true);
   if (ShouldCancel()) return true;
   // Clamp.
   {
@@ -56,11 +57,11 @@
       message.Send();
     }
   }
-  DoFridgeProfile(params.bottom, -0.05, kFastArmMove, kFastElevatorMove, false);
+  DoFridgeProfile(params.bottom, -0.05, kFastElevatorMove, kFastArmMove, false);
   if (ShouldCancel()) return true;
-  DoFridgeProfile(params.bottom, 0.0, kFastArmMove, kFastElevatorMove, false);
+  DoFridgeProfile(params.bottom, 0.0, kFastElevatorMove, kFastArmMove, false);
   if (ShouldCancel()) return true;
-  aos::time::SleepFor(aos::time::Time::InMS(100));
+  aos::time::SleepFor(aos::time::Time::InMS(200));
 
   return true;
 }