Make the superstructure splines faster and more gentle
We don't have a driver camera anymore to run into.
Change-Id: I6f6932d2645938372fc6b94657f334d35955d1a1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index b4d047a..c15b49d 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -143,8 +143,8 @@
DRIVER_CAM_Z_OFFSET = 3.225 * IN_TO_M
DRIVER_CAM_POINTS = rect_points(
- (-5.126 * IN_TO_M + joint_center[0], 0.393 * IN_TO_M + joint_center[0]),
- (5.125 * IN_TO_M + joint_center[1], 17.375 * IN_TO_M + joint_center[1]),
+ (-0.252, -0.252 + 0.098),
+ (-3.0 * IN_TO_M + joint_center[1], -8.0 * IN_TO_M + joint_center[1]),
(-8.475 * IN_TO_M - DRIVER_CAM_Z_OFFSET,
-4.350 * IN_TO_M - DRIVER_CAM_Z_OFFSET))