tuning for the comp bot
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 9db46fd..7052338 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -40,6 +40,9 @@
const double shooter_zeroing_speed = 0.05;
const double shooter_unload_speed = 0.08;
+// Smaller (more negative) = opening.
+const double kCompTopClawOffset = -0.120;
+
const Values *DoGetValuesForTeam(uint16_t team) {
switch (team) {
case 1: // for tests
@@ -84,7 +87,7 @@
kCompHighGearRatio,
kCompLeftDriveShifter,
kCompRightDriveShifter,
- true,
+ false,
control_loops::MakeVelocityDrivetrainLoop,
control_loops::MakeDrivetrainLoop,
// ShooterLimits
@@ -102,10 +105,11 @@
1.822142,
-0.849484,
1.42309,
- {-3.328397, 2.091668, -3.166136, 1.95,
- {-3.4, -3.092051, -3.4, -3.093414},
- {-0.249073, -0.035452, -0.251800, -0.033179},
- {1.889410, 2.2, 1.883956, 2.2}},
+ // 0.0371
+ {-3.3284, 2.0917, -3.1661, 1.95,
+ {-3.4, -2.9368 + kCompTopClawOffset, -3.4, -2.9876 + kCompTopClawOffset},
+ {-0.1433 + kCompTopClawOffset, 0.0670 + kCompTopClawOffset, -0.1460 + kCompTopClawOffset, 0.0648 + kCompTopClawOffset},
+ {1.9952 + kCompTopClawOffset, 2.2, 1.9898 + kCompTopClawOffset, 2.2}},
{-2.453460, 3.082960, -2.453460, 3.082960,
{-2.6, -2.185752, -2.6, -2.184843},
{-0.280434, -0.049087, -0.277707, -0.047724},
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index e1e5139..7e640b5 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -95,10 +95,10 @@
// 34" between near edge of colored line and rear edge of bumper
const ShotGoal kLongShotGoal = {
- {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
+ {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
// 3/4" plunger {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
const ShotGoal kFlippedLongShotGoal = {
- {0.96, kShootSeparation}, 140, 0.09, kIntakePower};
+ {0.94, kShootSeparation}, 140, 0.09, kIntakePower};
// 3/4 " plunger {0.97, kShootSeparation}, 140, 0.08, kIntakePower};
// 78" between near edge of colored line and rear edge of bumper