Now using the off-center indexer position and fixed some simulation bugs.
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 4420ee3..b5ff7f8 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -107,9 +107,9 @@
/*static*/ const double IndexMotor::kEjectorStopPosition =
kLifterStopPosition + 0.01;
/*static*/ const double IndexMotor::kEjectorMovementVelocity = 1.0;
-/*static*/ const double IndexMotor::kBottomDiscDetectStart = -0.08;
-/*static*/ const double IndexMotor::kBottomDiscDetectStop = 0.200025;
-/*static*/ const double IndexMotor::kBottomDiscIndexDelay = 0.01;
+/*static*/ const double IndexMotor::kBottomDiscDetectStart = 0.00;
+/*static*/ const double IndexMotor::kBottomDiscDetectStop = 0.13;
+/*static*/ const double IndexMotor::kBottomDiscIndexDelay = 0.032;
// TODO(aschuh): Verify these with the sensor actually on.
/*static*/ const double IndexMotor::kTopDiscDetectStart =
@@ -628,7 +628,6 @@
// Turn on the transfer roller if we are ready.
if (status->ready_to_intake && hopper_disc_count_ < 4 &&
safe_goal_ == Goal::INTAKE) {
- printf("Go\n");
intake_voltage = transfer_voltage = 12.0;
}
}