Recalibrated all our loops.
Shooter works much much better now. There's still a bit of
oscillation, but it's a lot better.
Change-Id: Ie3b8e09125d62e5b2011c6874fab97641c0b6526
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index c7283b2..a771f2e 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -112,6 +112,7 @@
// The current velocity measured as delta x / delta t in radians/sec.
double instantaneous_velocity;
+ double filtered_velocity;
double fixed_instantaneous_velocity;
// The error between our measurement and expected measurement in radians.
@@ -174,6 +175,8 @@
double raw_vision_angle;
double vision_angle;
bool vision_tracking;
+
+ double turret_encoder_angle;
};
queue_group SuperstructureQueue {