commit d32f43004a98d736f025ada4adf97dadfce74b7a
author Maxwell Henderson <mxwhenderson@gmail.com> Sun Mar 12 17:57:50 2023 -0700
committer Maxwell Henderson <mxwhenderson@gmail.com> Sun Mar 12 17:57:50 2023 -0700
tree 2e5ee3feeabfdb958fee732f4176a6433527506a
parent 6e0d865e1c5beb14fdc5e2620f8f3483a47bf929

Add earlier roll points for HPP paths

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I8113673e3399fe52de147f37b9b3a121897eedf3

y2023/control_loops/python/graph_paths.py

diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index decd90f..926c456 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -338,7 +338,7 @@
         control1=np.array([2.0, -0.239378]),
         control2=np.array([1.6, -0.626835]),
         end=points['HPPickupBackConeUp'],
-        control_alpha_rolls=[(0.7, 0.0), (.9, np.pi / 2.0)],
+        control_alpha_rolls=[(0.3, 0.0), (.9, np.pi / 2.0)],
     ))
 
 points['HPPickupFrontConeUp'] = np.array(
@@ -353,7 +353,7 @@
         control1=np.array([4.068204933788692, -0.05440997896697275]),
         control2=np.array([4.861911360838861, -0.03790410600482508]),
         end=points['HPPickupFrontConeUp'],
-        control_alpha_rolls=[(0.7, 0.0), (.9, -np.pi / 2.0)],
+        control_alpha_rolls=[(0.3, 0.0), (.9, -np.pi / 2.0)],
     ))
 
 points['ScoreFrontHighConeUp'] = to_theta_with_circular_index_and_roll(