Claw now zeros, though slowly. Not sure about high speeds yet and the constants seem wrong.
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 971c1a6..f9f19a6 100755
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -136,17 +136,11 @@
0.90675,
-0.39110,
0.843349,
-#if 0
- separations (top, bottom)
- hard min position:-0.253845, position:-0.001136,
- soft min position:-0.244528, position:-0.047269,
- soft max position:0.526326, position:-0.510872,
- hard max position:0.517917, position:-0.582685,
-#endif
{-1.62102, 1.039699, -1.606248, 0.989702, {-1.65, -1.546252, -1.65, -1.548752}, {-0.13249, -0.02113, -0.134763, -0.021589}, {0.934024, 1.05, 0.92970, 1.05}},
{-1.420352, 1.348313, -1.161281, 1.264001, {-1.45, -1.283771, -1.45, -1.28468}, {-0.332476, -0.214984, -0.334294, -0.217029}, {1.248547, 1.37, 1.245366, 1.37}},
0.01, // claw_unimportant_epsilon
- 0.9, // start_fine_tune_pos
+ -0.4, // start_fine_tune_pos
+ // TODO(austin): Different for the two halfs.
4.0,
}
};