Merge "Avoid shooter collision with new intake"
diff --git a/y2016/control_loops/superstructure/superstructure.h b/y2016/control_loops/superstructure/superstructure.h
index d922972..083b5b8 100644
--- a/y2016/control_loops/superstructure/superstructure.h
+++ b/y2016/control_loops/superstructure/superstructure.h
@@ -69,13 +69,13 @@
// shoulder is below this angle.
static constexpr double kMinShoulderAngleForHorizontalShooter = 0.6;
- // The shoulder angle (in radians) below which the arm as a whole has the
- // potential to interfere with the intake.
- static constexpr double kMinShoulderAngleForIntakeInterference = 0.8;
+ // The shoulder angle (in radians) below which the arm and the shooter have
+ // the potential to interfere with the intake.
+ static constexpr double kMinShoulderAngleForIntakeInterference = 1.3;
// The intake angle (in radians) above which the intake can interfere (i.e.
// collide) with the arm and/or shooter.
- static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.2;
+ static constexpr double kMaxIntakeAngleBeforeArmInterference = 1.12;
// The maximum absolute angle (in radians) that the wrist must be below in
// order for the shouler to be allowed to move below