commit f2f95b39480cee02c41e4ba59b34e7c3f3b15a05
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 23 20:12:05 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 24 13:04:14 2024 -0700
tree 0c7310ad8c55e220ae9fb9855fd74bcb443207e4
parent 9afec6a8fac5688256dd7cb14e847a3d2b00e257

Tweak auto splines

* Update starting position
* Remove sleep that is made unnecessary by velocity thresholds on
  turret/altitude convergence.
* Speed up three-piece pickup spline.
* Slow down outward spline (TODO: I am not sure this is buying us
  much).
* Increase sleep to fire final gamepiece to give extra time for
  localizer to stabilize.

Change-Id: Ied069db969d01ca13d59938bd099bc2adac8e257
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/autonomous/autonomous_actor.cc

diff --git a/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 9b4f7f8..c9da1f0 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -226,7 +226,6 @@
   Aim();
   if (!WaitForPreloaded()) return;
 
-  std::this_thread::sleep_for(chrono::milliseconds(500));
   Shoot();
 
   AOS_LOG(
@@ -308,13 +307,13 @@
   if (!splines[4].WaitForPlan()) return;
   splines[4].Start();
 
-  if (!splines[4].WaitForSplineDistanceRemaining(0.05)) return;
+  if (!splines[4].WaitForSplineDistanceRemaining(0.01)) return;
 
   AOS_LOG(
       INFO, "Done with spline %lfs\n",
       aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
-  std::this_thread::sleep_for(chrono::milliseconds(300));
+  std::this_thread::sleep_for(chrono::milliseconds(500));
 
   AOS_LOG(
       INFO, "Shooting last note! %lfs\n",