Add ability to drive splines backwards
Change-Id: Ib34366ed155625fba56c4f72b9adce0615c6f12d
diff --git a/y2019/control_loops/drivetrain/localizer_test.cc b/y2019/control_loops/drivetrain/localizer_test.cc
index b53e9d7..d30ee4b 100644
--- a/y2019/control_loops/drivetrain/localizer_test.cc
+++ b/y2019/control_loops/drivetrain/localizer_test.cc
@@ -410,7 +410,7 @@
// interest here are that we (a) stop adding disturbances at the very end of
// the trajectory, to allow us to actually converge to the goal, and (b)
// scale disturbances by the corruent velocity.
- if (GetParam().disturb && i % 50 == 0) {
+ if (GetParam().disturb && i % 75 == 0) {
// Scale the disturbance so that when we have near-zero velocity we don't
// have much disturbance.
double disturbance_scale = ::std::min(
@@ -582,7 +582,7 @@
.finished(),
/*noisify=*/false,
/*disturb=*/true,
- /*estimate_tolerance=*/2e-2,
+ /*estimate_tolerance=*/2.5e-2,
/*goal_tolerance=*/0.15,
}),
// Add noise and some initial error in addition: