Calibrate the sensors on the practice bot
Change-Id: I8d44af57778f1b09843ef760a9a357fdd9e11270
diff --git a/y2019/control_loops/superstructure/collision_avoidance.h b/y2019/control_loops/superstructure/collision_avoidance.h
index 1ad9582..5a8a772 100644
--- a/y2019/control_loops/superstructure/collision_avoidance.h
+++ b/y2019/control_loops/superstructure/collision_avoidance.h
@@ -53,10 +53,10 @@
// TODO(sabina): set all the numbers to correctly match the robot.
// Height above which we can move the wrist freely.
- static constexpr double kElevatorClearHeight = 0.5;
+ static constexpr double kElevatorClearHeight = 0.35;
// Height above which we can move the wrist down.
- static constexpr double kElevatorClearWristDownHeight = 0.3;
+ static constexpr double kElevatorClearWristDownHeight = 0.25;
// Height the carriage needs to be above to move the intake.
static constexpr double kElevatorClearIntakeHeight = 0.4;
@@ -65,8 +65,8 @@
static constexpr double kWristMinAngle = -M_PI / 2.0;
// Angles outside of which the intake is fully clear of the wrist.
- static constexpr double kIntakeOutAngle = M_PI / 6.0;
- static constexpr double kIntakeInAngle = -M_PI / 3.0;
+ static constexpr double kIntakeOutAngle = 0.3;
+ static constexpr double kIntakeInAngle = -1.1;
// Angles within which we will crash the wrist into the elevator if the
// elevator is below kElevatorClearHeight.