| commit | d180b25348ced4de79f29ee9a1fa6b2be3bd15a3 | [log] [tgz] |
|---|---|---|
| author | Tyler Chatow <tchatow@gmail.com> | Sat Feb 23 22:00:20 2019 -0800 |
| committer | Tyler Chatow <tchatow@gmail.com> | Wed Feb 27 23:15:12 2019 -0800 |
| tree | 5d430424a64d2481ba0a88952cce3f03b62bcd1a | |
| parent | c92b4876360254220b1e7fb97c87aa30a82734ed [diff] [blame] |
Relax collision avoidance if not holding game piece Change-Id: I361f639460b1fcb2c7c2223d3e4f42ae743b9ad0
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h index ca29e7c..7fc80cd 100644 --- a/y2019/control_loops/superstructure/collision_avoidance.h +++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -70,6 +70,7 @@ // elevator is below kElevatorClearHeight. static constexpr double kWristElevatorCollisionMinAngle = -M_PI / 4.0; static constexpr double kWristElevatorCollisionMaxAngle = M_PI / 4.0; + static constexpr double kWristElevatorCollisionMaxAngleWithoutObject = M_PI / 6.0; // Tolerance for the elevator. static constexpr double kEps = 0.02;