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/turret/aiming.cc b/y2020/control_loops/superstructure/turret/aiming.cc
index cdc6181..c8f8f6e 100644
--- a/y2020/control_loops/superstructure/turret/aiming.cc
+++ b/y2020/control_loops/superstructure/turret/aiming.cc
@@ -67,12 +67,12 @@
// speed. Assuming a constant average speed over the course of the trajectory
// should be reasonable, since all we are trying to do here is calculate an
// overall time-of-flight (we don't actually care about the ball speed itself).
-constexpr double kBallSpeedOverGround = 15.0; // m/s
+constexpr double kBallSpeedOverGround = 17.0; // m/s
// Minimum distance that we must be from the inner port in order to attempt the
// shot--this is to account for the fact that if we are too close to the target,
// then we won't have a clear shot on the inner port.
-constexpr double kMinimumInnerPortShotDistance = 3.9;
+constexpr double kMinimumInnerPortShotDistance = 1.9;
// Amount of buffer, in radians, to leave to help avoid wrapping. I.e., any time
// that we are in kAvoidEdges mode, we will keep ourselves at least