Claw now zeros!
- Debugged plant
- Switched to a simple controller architecture.
- Fixed controller.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 466fe60..300da20 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -55,13 +55,14 @@
control_loops::MakeClutchDrivetrainLoop,
0.5,
0.1,
+ 0.1,
0.0,
1.57,
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- 0.02, // claw_unimportant_epsilon
- 50505.05, // start_fine_tune_pos
+ 0.01, // claw_unimportant_epsilon
+ 0.9, // start_fine_tune_pos
};
break;
case kPracticeTeamNumber:
@@ -75,13 +76,14 @@
control_loops::MakeVDogDrivetrainLoop,
control_loops::MakeDogDrivetrainLoop,
0.5,
+ 0.2,
0.1,
0.0,
1.57,
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
{0.0, 2.05, {-0.1, 0.05}, {1.0, 1.1}, {2.0, 2.1}},
- 0.02, // claw_unimportant_epsilon
- 50505.05, //start_fine_tune_pos
+ 0.01, // claw_unimportant_epsilon
+ 0.9, //start_fine_tune_pos
};
break;
default: