Make arm not fall over when we hit someone
The impact was causing it to move off the path and be disabled for a
couple of cycles. We would then go back to the path. So up the voltage
we return to the path at, and the length of time before we call
ourselves disabled.
Change-Id: I037c3f59c8614aabde6902a5ef7bc22093c2fe21
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index 595a694..f404472 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -194,8 +194,8 @@
}
static constexpr double kArmVMax() { return kArmGrannyMode() ? 4.0 : 9.5; }
- static constexpr double kArmPathlessVMax() { return 4.5; }
- static constexpr double kArmGotoPathVMax() { return 4.5; }
+ static constexpr double kArmPathlessVMax() { return 9.5; }
+ static constexpr double kArmGotoPathVMax() { return 9.5; }
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index fd3028c..7144e57 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -12,7 +12,7 @@
namespace chrono = ::std::chrono;
using ::aos::monotonic_clock;
-constexpr int kMaxBrownoutCount = 4;
+constexpr int kMaxBrownoutCount = 20;
} // namespace
@@ -248,7 +248,6 @@
if (state_ == ArmState::RUNNING && unsafe_goal != nullptr) {
if (current_node_ != filtered_goal) {
- AOS_LOG(INFO, "Goal is different\n");
if (filtered_goal >= search_graph_.num_vertexes()) {
AOS_LOG(ERROR, "goal node out of range ESTOP\n");
state_ = ArmState::ESTOP;