commit f05948bbcb5733ea7bb997ad333486c85a84cbeb
author Brian Silverman <brians> Sun Mar 30 00:24:36 2014 -0700
committer Brian Silverman <brians> Sun Mar 30 00:24:36 2014 -0700
tree 811a105d44c9b3c724dfb4fdd3561f9c0f7fca43
parent 89f557c4040fba5d1eff887dfa7a22ce0656b4a5

tweaked the slope of the line to make catching work better

frc971/control_loops/claw/claw.cc

diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index cbd4d2a..4baabb6 100644
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -132,7 +132,7 @@
     {
       const auto &P = position_error;
       Eigen::Matrix<double, 1, 2> L45;
-      L45 << sign(P(1, 0)), -sign(P(0, 0));
+      L45 << sign(P(1, 0)) * ::std::sqrt(3), -sign(P(0, 0));
       const double w45 = 0;
 
       Eigen::Matrix<double, 1, 2> LH;