commit d5314d86b2c70b331741fb4e2cba033a0abe8470
author Austin Schuh <austin.linux@gmail.com> Sun Mar 29 18:24:35 2015 -0700
committer Brian Silverman <brians> Mon Mar 30 14:21:50 2015 -0400
tree b214029a6aaf49b29e08b10e076563d9c4a20a2b
parent a534ebe1da6d9df67ca171c2bbd803f964f8b381

Score is faster.

Change-Id: I25ec37a6fe9bda69bac3ea04c1b9cd91249df08a

frc971/actors/score_actor.cc

diff --git a/frc971/actors/score_actor.cc b/frc971/actors/score_actor.cc
index 27e2fe3..d650bb6 100644
--- a/frc971/actors/score_actor.cc
+++ b/frc971/actors/score_actor.cc
@@ -16,7 +16,7 @@
 namespace {
 
 const double kSlowMaxXVelocity = 0.80;
-const double kSlowMaxYVelocity = 0.30;
+const double kSlowMaxYVelocity = 0.40;
 const double kFastMaxXVelocity = 0.80;
 const double kFastMaxYVelocity = 0.30;
 const double kReallyFastMaxXVelocity = 1.0;
@@ -24,8 +24,10 @@
 
 const double kMaxXAcceleration = 0.5;
 const double kMaxYAcceleration = 0.7;
-const double kFastMaxXAcceleration = 1.2;
-const double kFastMaxYAcceleration = 1.2;
+const double kLiftYAcceleration = 2.0;
+const double kLowerYAcceleration = 2.0;
+const double kFastMaxXAcceleration = 1.5;
+const double kFastMaxYAcceleration = 1.5;
 const double kSlowMaxXAcceleration = 0.3;
 const double kSlowMaxYAcceleration = 0.5;
 
@@ -58,7 +60,7 @@
 bool ScoreActor::MoveStackIntoPosition(const ScoreParams& params) {
   // Move the fridge up a little bit.
   if (!SendGoal(0.0, params.upper_move_height, true, kSlowMaxXVelocity,
-                kSlowMaxYVelocity, kMaxXAcceleration, kMaxYAcceleration)) {
+                kSlowMaxYVelocity, kMaxXAcceleration, kLiftYAcceleration)) {
     LOG(ERROR, "Sending fridge message failed.\n");
     return false;
   }
@@ -120,7 +122,7 @@
   // Once the fridge is way out, put it on the ground.
   if (!SendGoal(params.horizontal_move_target, params.place_height, true,
                 kFastMaxXVelocity, kFastMaxYVelocity, kMaxXAcceleration,
-                kMaxYAcceleration)) {
+                kLowerYAcceleration)) {
     LOG(ERROR, "Sending fridge message failed.\n");
     return false;
   }
@@ -139,22 +141,12 @@
   // Release and give the grabers a chance to get out of the way.
   if (!SendGoal(params.horizontal_move_target, params.place_height, false,
                 kFastMaxXVelocity, kFastMaxYVelocity, kMaxXAcceleration,
-                kMaxYAcceleration)) {
+                kLowerYAcceleration)) {
     LOG(ERROR, "Sending fridge message failed.\n");
     return false;
   }
   if (!WaitOrCancel(::aos::time::Time::InSeconds(0.1))) return true;
 
-  // Release the grabbers.
-  if (!SendGoal(params.horizontal_move_target, params.place_height, false,
-                kFastMaxXVelocity, kFastMaxYVelocity, kMaxXAcceleration,
-                kMaxYAcceleration)) {
-    LOG(ERROR, "Sending fridge message failed.\n");
-    return false;
-  }
-
-  if (ShouldCancel()) return true;
-
   // Go back to the home position.
   if (!SendGoal(0.0, params.place_height, false, kReallyFastMaxXVelocity,
                 kReallyFastMaxYVelocity, kFastMaxXAcceleration,