commit d8a18bb01e2d491b76234edea19213fc975811af
author Austin Schuh <austin.linux@gmail.com> Sun Mar 24 19:21:38 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 24 19:54:57 2019 -0700
tree 8ff85131248571b906fc0480db2caa52789eda9a
parent 45639882e2a1c48bc09a160de9800f60ca5b8a7b

Slow down arm and elevator movement when climbing

Change-Id: I24dae12d05d083cc5ebdca8577a32e7726bf57c7

y2019/joystick_reader.cc

diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 3301a86..9d7117b 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -358,6 +358,8 @@
 
     if (superstructure_queue.status->stilts.position > 0.1) {
       elevator_wrist_pos_ = kClimbPos;
+      new_superstructure_goal->wrist.profile_params.max_acceleration = 10;
+      new_superstructure_goal->elevator.profile_params.max_acceleration = 6;
     }
 
     if (superstructure_queue.status->stilts.position > kDeployStiltPosition &&