commit fd1715fd262fe45b3c8efacb9dc53a3f436af64e
author Austin Schuh <austin.linux@gmail.com> Sat Jan 30 16:58:24 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Jan 30 18:38:00 2021 -0800
tree 8cb749491b8086c6a26900205b9ba3a7110e462c
parent 375bcbbf1bf3f486f60fc28432d7f73f2146b0bf

Tune spline and linear move for the classroom

Shorten the spline, lower the speed and acceleration,
and switch the default back to the spline.

Change-Id: I69fb81940fe942eed14e10eeff65a0bb408fc59d

y2020/actors/auto_splines.cc

diff --git a/y2020/actors/auto_splines.cc b/y2020/actors/auto_splines.cc
index b6d97c4..dbea31a 100644
--- a/y2020/actors/auto_splines.cc
+++ b/y2020/actors/auto_splines.cc
@@ -31,7 +31,7 @@
         builder->MakeBuilder<frc971::Constraint>();
     longitudinal_constraint_builder.add_constraint_type(
         frc971::ConstraintType::LONGITUDINAL_ACCELERATION);
-    longitudinal_constraint_builder.add_value(2.0);
+    longitudinal_constraint_builder.add_value(1.0);
     longitudinal_constraint_offset = longitudinal_constraint_builder.Finish();
   }
 
@@ -40,7 +40,7 @@
         builder->MakeBuilder<frc971::Constraint>();
     lateral_constraint_builder.add_constraint_type(
         frc971::ConstraintType::LATERAL_ACCELERATION);
-    lateral_constraint_builder.add_value(2.0);
+    lateral_constraint_builder.add_value(1.0);
     lateral_constraint_offset = lateral_constraint_builder.Finish();
   }
 
@@ -49,7 +49,7 @@
         builder->MakeBuilder<frc971::Constraint>();
     voltage_constraint_builder.add_constraint_type(
         frc971::ConstraintType::VOLTAGE);
-    voltage_constraint_builder.add_value(8.0);
+    voltage_constraint_builder.add_value(2.0);
     voltage_constraint_offset = voltage_constraint_builder.Finish();
   }
 
@@ -60,12 +60,12 @@
               {longitudinal_constraint_offset, lateral_constraint_offset,
                voltage_constraint_offset});
 
-  const float startx = 3.3;
-  const float starty = -.7;
-  std::vector<float> x_pos{0.0f + startx, 0.8f + startx, 0.8f + startx,
-                           1.2f + startx, 1.2f + startx, 2.0f + startx};
-  std::vector<float> y_pos{starty - 0.0f, starty - 0.0f, starty - 0.1f,
-                           starty - 0.2f, starty - 0.3f, starty - 0.3f};
+  const float startx = 0.0;
+  const float starty = 0.0;
+  std::vector<float> x_pos{0.0f + startx, 0.4f + startx, 0.4f + startx,
+                           0.6f + startx, 0.6f + startx, 1.0f + startx};
+  std::vector<float> y_pos{starty + 0.0f, starty + 0.0f, starty + 0.05f,
+                           starty + 0.1f, starty + 0.15f, starty + 0.15f};
   if (alliance == aos::Alliance::kRed) {
     for (size_t ii = 0; ii < x_pos.size(); ++ii) {
       x_pos[ii] *= -1;

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 3abc8b8..fdf7ada 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -11,7 +11,7 @@
 #include "y2020/control_loops/drivetrain/drivetrain_base.h"
 #include "y2020/actors/auto_splines.h"
 
-DEFINE_bool(spline_auto, false, "If true, define a spline autonomous mode");
+DEFINE_bool(spline_auto, true, "If true, define a spline autonomous mode");
 
 namespace y2020 {
 namespace actors {
@@ -44,7 +44,7 @@
   // Currently just arbitrarily chosen for testing purposes, such that the
   // robot starts on the side of the field nearest where it would score
   // (although I do not know if this is actually a legal starting position).
-  Eigen::Vector2d starting_position(3.3, -0.7);
+  Eigen::Vector2d starting_position(0.0, 0.0);
   double starting_heading = 0.0;
   if (alliance_ == aos::Alliance::kRed) {
     starting_position *= -1.0;
@@ -103,9 +103,9 @@
 }
 
 bool AutonomousActor::DriveFwd() {
-  const ProfileParametersT kDrive = MakeProfileParametersT(0.1f, 0.5f);
+  const ProfileParametersT kDrive = MakeProfileParametersT(0.3f, 1.0f);
   const ProfileParametersT kTurn = MakeProfileParametersT(5.0f, 15.0f);
-  StartDrive(0.5, 0.0, kDrive, kTurn);
+  StartDrive(1.0, 0.0, kDrive, kTurn);
   return WaitForDriveDone();
 }
 }  // namespace actors