commit ede4732ae681c0e870c07ce038b9f57cc7d6f8cc
author Austin Schuh <austin.linux@gmail.com> Sun Jul 08 16:04:36 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Aug 08 20:34:44 2018 -0700
tree 5079ab212a939ae073a4f12bf7b5e790d07a1afe
parent ed01808a35720d0088ed25a8a57c5e27732e5a84

Tune intake

Change-Id: I979033163a94078969c4f0829150998fba4540c5

y2018/control_loops/python/intake.py

diff --git a/y2018/control_loops/python/intake.py b/y2018/control_loops/python/intake.py
index 8879dff..a9479e0 100755
--- a/y2018/control_loops/python/intake.py
+++ b/y2018/control_loops/python/intake.py
@@ -165,7 +165,7 @@
         # space.
 
         q_output_vel = 1.0
-        q_spring_pos = 0.5
+        q_spring_pos = 0.10
         q_spring_vel = 2.0
         q_voltage = 1000000000000.0
         self.Q_lqr = numpy.matrix(

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 6b2864a..9493037 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -56,12 +56,12 @@
   };
 
   enum class GrabState : int32_t {
-    NORMAL,
-    WAIT_FOR_BOX,
-    TALL_BOX,
-    SHORT_BOX,
-    CLAW_CLOSE,
-    OPEN_INTAKE,
+    NORMAL = 0,
+    WAIT_FOR_BOX = 1,
+    TALL_BOX = 2,
+    SHORT_BOX = 3,
+    CLAW_CLOSE = 4,
+    OPEN_INTAKE = 5,
   };
 
   State state() const { return state_; }