Speed up catapult
We got a new gear ratio. Fix some state machine transitions as well to
let us reload the catapult while grabbing the next ball, and to fire
immediately too.
Change-Id: I930af58db609815d4fa639fa37b66caa011b6b94
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 48d07f1..edb3831 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -33,6 +33,7 @@
::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
static constexpr double kTurretGoalThreshold = 0.05;
+ static constexpr double kTurretGoalLoadingThreshold = 0.70;
static constexpr double kCatapultGoalThreshold = 0.05;
// potentiometer will be more noisy
static constexpr double kFlipperGoalThreshold = 0.05;