commit f59b8ee6e97a48cb331a51cb93f1ec392a3d19c1
author Austin Schuh <austin.linux@gmail.com> Sat Mar 19 21:31:36 2016 -0700
committer Austin Schuh <austin@peloton-tech.com> Mon Mar 21 19:40:33 2016 -0700
tree 2d40b7f95c1a3a42a183e74060be9d937320ccce
parent 7bb80b6350a921677108e5991e144163785fbc19

Wrote the 5 autonomous modes.

Change-Id: I46d3607811c78be14a3ca5f445899b15b0627fb5

frc971/control_loops/drivetrain/polydrivetrain.cc

diff --git a/frc971/control_loops/drivetrain/polydrivetrain.cc b/frc971/control_loops/drivetrain/polydrivetrain.cc
index 8a0a7ff..2383c83 100644
--- a/frc971/control_loops/drivetrain/polydrivetrain.cc
+++ b/frc971/control_loops/drivetrain/polydrivetrain.cc
@@ -298,7 +298,7 @@
     R_right(0, 0) = right_motor_speed;
 
     const double wiggle =
-        (static_cast<double>((counter_ % 20) / 10) - 0.5) * 5.0;
+        (static_cast<double>((counter_ % 30) / 15) - 0.5) * 8.0;
 
     loop_->mutable_U(0, 0) = ::aos::Clip(
         (R_left / dt_config_.v)(0, 0) + (IsInGear(left_gear_) ? 0 : wiggle),