commit ef978fcd222c4525ad027575a4ff56efa389472b
author Austin Schuh <austin.linux@gmail.com> Wed Mar 21 20:38:06 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 21 21:26:28 2018 -0700
tree 6741a1c4d7051c96a36088506993c273b7838958
parent 1e2d498672038344b5f1578a8883ec40f7d3424b

Calibrate competition robot sensors.

Change-Id: I5504e727666758f67b0b8ff9b70a93264b0293ae

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 a39b550..4609827 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -26,8 +26,8 @@
     return kGrannyMode() ? 4.0 : 12.0;
   }
   static constexpr double kDt() { return 0.00505; }
-  static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 15.0; }
-  static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 15.0; }
+  static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 10.0; }
+  static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 10.0; }
 
   static constexpr double kVMax() { return kGrannyMode() ? 5.0 : 11.5; }
   static constexpr double kPathlessVMax() { return 5.0; }