| commit | d6e9fb4ae5b4be05f8c5ce86727d68af29da6c0f | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Apr 09 17:56:06 2017 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Apr 09 18:11:44 2017 -0700 |
| tree | 9d240529b91fb2cffea1d5f8b26a6dd610a5433a | |
| parent | 8347cb66b0ea04a1eb09f1e6c64b4919645e62e1 [diff] [blame] |
Changed control loop cycle to 5.05 ms Change-Id: If2a1e1ab01e051798fdaff77914a418ab2136f2c
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc index c0b9d6e..f864696 100644 --- a/y2017/control_loops/superstructure/shooter/shooter.cc +++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -102,7 +102,7 @@ position_error_ = X_hat_current_(0, 0) - Y_(0, 0); dt_velocity_ = dt_position_ / chrono::duration_cast<chrono::duration<double>>(dt).count(); - fixed_dt_velocity_ = dt_position_ / 0.005; + fixed_dt_velocity_ = dt_position_ / 0.00505; loop_->Update(disabled, dt); }