commit dd12882e6930733e8f56f3856856154efccde8b1
author Austin Schuh <austin.linux@gmail.com> Sun Apr 09 22:19:06 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 12 20:56:46 2023 -0700
tree 2b63ace0e1664ec4d005999eb41ebde8bcc46666
parent aa4ab7ea6ca0cba4ff813a40e7e645935da3f33e

Tune cable carrier auto

Tune splines and arm movements.

Change-Id: I4b27ff9e2d4fad278057f0c8bdbf56c6646349d5
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/autonomous/autonomous_actor.cc

diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index 58c31d0..cd4d4f1 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -475,7 +475,13 @@
   splines[1].Start();
 
   std::this_thread::sleep_for(chrono::milliseconds(300));
+  Neutral();
+
+  if (!splines[1].WaitForSplineDistanceTraveled(3.2)) return;
   HighCubeScore();
+  AOS_LOG(
+      INFO, "Extending arm %lf s\n",
+      aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
   if (!splines[1].WaitForSplineDistanceRemaining(0.08)) return;
   AOS_LOG(
@@ -521,10 +527,17 @@
   if (!splines[3].WaitForPlan()) return;
   splines[3].Start();
 
+  std::this_thread::sleep_for(chrono::milliseconds(400));
+  Neutral();
+
   AOS_LOG(
       INFO, "Driving back %lf s\n",
       aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
+  if (!splines[3].WaitForSplineDistanceTraveled(3.5)) return;
+  AOS_LOG(
+      INFO, "Extending arm %lf s\n",
+      aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
   MidCubeScore();
 
   if (!splines[3].WaitForSplineDistanceRemaining(0.07)) return;