fixes for the indexer code
started index
another printf format fix for the index
tweaked an index constant
tweaked index time constants
diff --git a/frc971/atom_code/scripts/start_list.txt b/frc971/atom_code/scripts/start_list.txt
index be11543..6b35437 100644
--- a/frc971/atom_code/scripts/start_list.txt
+++ b/frc971/atom_code/scripts/start_list.txt
@@ -11,3 +11,4 @@
CameraHTTPStreamer
angle_adjust
wrist
+index
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index c757cd2..8a8d540 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -87,7 +87,7 @@
/*static*/ const double IndexMotor::kBottomDiscDetectStop = 0.13;
/*static*/ const double IndexMotor::kBottomDiscIndexDelay = 0.032;
/*static*/ const ::aos::time::Time IndexMotor::kTransferOffDelay =
- ::aos::time::Time::InSeconds(0.1);
+ ::aos::time::Time::InSeconds(0.3);
// TODO(aschuh): Verify these with the sensor actually on.
/*static*/ const double IndexMotor::kTopDiscDetectStart =
@@ -616,7 +616,7 @@
const double grabbed_disc_position =
min_disc_position +
ConvertDiscPositionToIndex(kReadyToLiftPosition -
- kIndexStartPosition + 0.03);
+ kIndexStartPosition + 0.10);
// Check the state of the loader FSM.
// If it is ready to load discs, position the disc so that it is ready
@@ -727,7 +727,7 @@
}
if (hopper_disc_count_ > 0) {
LOG(ERROR,
- "Emptied the hopper out but there are still %d discs there\n",
+ "Emptied the hopper out but there are still %"PRId32" discs there\n",
hopper_disc_count_);
}
}