Tune backpower timeouts and torques for queueing balls
Combined with the sensor position change, this queues up the balls
quite nicely. The shots come out really cleanly.
Change-Id: I68c6176240869836312187f3bfaa2b38fde3121b
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index ebb8841..b0bc9f5 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -30,7 +30,7 @@
static constexpr double kTurretFrictionVoltageLimit = 1.5;
static constexpr double kTurretDitherGain = 0.0;
static constexpr std::chrono::milliseconds kPreloadingTimeout =
- std::chrono::seconds(5);
+ std::chrono::seconds(2);
static constexpr std::chrono::milliseconds kPreloadingBackpowerDuration =
std::chrono::milliseconds(50);