Retune interpolation table based on 1690's advice
Couple finisher and accelerator speeds too.
https://docs.google.com/spreadsheets/d/1cFcA8ncgptloiDLGW4ICp4YNkfOQLVXJi2EO5HpAJZA/edit?usp=sharing
Change-Id: I572d738de00ae7a58e8d98d7913283ffdf85da57
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index ae79e76..4fb5c1d 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -75,18 +75,15 @@
aos::FlatbufferFixedAllocatorArray<ShooterGoal, 64> shooter_goal;
constants::Values::ShotParams shot_params;
- constants::Values::FlywheelShotParams flywheel_shot_params;
if (constants::GetValues().shot_interpolation_table.GetInRange(
- distance_to_goal, &shot_params) &&
- constants::GetValues().flywheel_shot_interpolation_table.GetInRange(
- shot_params.velocity_ball, &flywheel_shot_params)) {
+ distance_to_goal, &shot_params)) {
hood_goal.Finish(frc971::control_loops::
CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
*hood_goal.fbb(), shot_params.hood_angle));
shooter_goal.Finish(CreateShooterGoal(
- *shooter_goal.fbb(), flywheel_shot_params.velocity_accelerator,
- flywheel_shot_params.velocity_finisher));
+ *shooter_goal.fbb(), shot_params.velocity_accelerator,
+ shot_params.velocity_finisher));
} else {
hood_goal.Finish(
frc971::control_loops::