Retune finisher to not oscillate
There is a small overshoot which appears to be battery or falcon
related, but everything looks a lot smoother and in phase. I don't see
the wild oscillations we were seeing before.
The plus side is that this appears to have made the ball counter work a
lot better.
Change-Id: Id43da39b12ace9516d3698f41ecc667afdab6de8
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 99854fe..9be6273 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -116,6 +116,7 @@
// come back up close to the last local maximum or is greater than it, the
// ball has been shot.
balls_shot_++;
+ VLOG(1) << "Shot ball at " << position_timestamp;
ball_in_finisher_ = false;
} else if (!ball_in_finisher_ &&
(finisher_goal() > kVelocityToleranceFinisher)) {