commit f9286cd3daa7ff408652631b88f2e86b38172f14
author Austin Schuh <austin@peloton-tech.com> Tue Feb 11 00:51:09 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Tue Feb 11 00:51:09 2014 -0800
tree da95a9ec4b025e112d21d1c15c773320eb9fb844
parent 4b7b5d039e6279f5a43a8bab01d23487643a0389

Claw gets further when zeroing.

- Claw now roughly finds out where it is.
- The state feedback loop now has a Correct method which takes the
  measurement to use.

frc971/constants.cc

diff --git a/frc971/constants.cc b/frc971/constants.cc
index 815bebb..14745b5 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -53,7 +53,7 @@
             true,
             control_loops::MakeVClutchDrivetrainLoop,
             control_loops::MakeClutchDrivetrainLoop,
-            1.0,
+            0.5,
             0.1,
             0.0,
             1.57,
@@ -72,7 +72,7 @@
             false,
             control_loops::MakeVDogDrivetrainLoop,
             control_loops::MakeDogDrivetrainLoop,
-            1.0,
+            0.5,
             0.1,
             0.0,
             1.57,