fix: looser tolerances

LouisAsanaka · Jan 11, 2021 · e629bf4 · e629bf4
1 parent c4b66fc
commit e629bf4
Show file tree

Hide file tree

Showing 5 changed files with 26 additions and 26 deletions.
diff --git a/include/constants.hpp b/include/constants.hpp
@@ -27,7 +27,7 @@ constexpr double DRIVE_ENCODER_TARGET_ERROR       = 40;
 constexpr double DRIVE_ENCODER_TARGET_DERIV       = 5;
 constexpr okapi::QTime DRIVE_ENCODER_TARGET_TIME  = 200_ms;
 
-constexpr double STRAFING_DIST_TARGET_ERROR       = 0.015;
+constexpr double STRAFING_DIST_TARGET_ERROR       = 0.02;
 constexpr double STRAFING_DIST_TARGET_DERIV       = 5;
 constexpr okapi::QTime STRAFING_DIST_TARGET_TIME  = 150_ms;
 

diff --git a/include/main.h b/include/main.h
@@ -77,8 +77,12 @@ void opcontrol(void);
  */
 #include <iostream>
 #include <memory>
+#include <algorithm>
+#include <numeric>
 #include <cmath>
+#include <exception>
 #include <string>
+#include <sstream>
 #endif
 
 #endif  // _PROS_MAIN_H_
diff --git a/src/autonomous.cpp b/src/autonomous.cpp
@@ -8,10 +8,6 @@
 
 #include "gui.hpp"
 
-#include <exception>
-#include <string>
-#include <sstream>
-
 void autonomous() {
     #if defined(RUN_WITHOUT_ROBOT) && RUN_WITHOUT_ROBOT 
 	return;
@@ -28,24 +24,24 @@ void autonomous() {
         rightSide3(true);
     } else {
         reset(0_m, 0_m, 0_deg, false);
-        std::shared_ptr<PurePursuitPath> path = std::make_shared<PurePursuitPath>(
-            std::vector<Pose2d>{
-                {0.6_m, 0_m, 0_deg},
-                {1_m, 1_m, 0_deg}
-            }, 0.02_m,
-            PurePursuitPath::Constraints{0.6, 1.0, 2.0}
-        );
-        double b = 0.98;
-        double a = 1 - b;
-        double tol = 0.001;
-        path->smoothen(a, b, tol);
-        path->fillPointInformation();
-
-        for (const auto& point : path->points) {
-            std::cout << point.pose.toString() << " => " << point.distanceFromStart << "m, " << point.curvature << " curvature, " << point.targetVelocity << " m/s" << std::endl;
-        }
-        robot::drive->controller->followPath(path, 0.3_m, 0.01_m, {0.01, 1.0, 15.0});
-        std::cout << Pose2d::fromOdomState(robot::drive->controller->getState()).toString() << std::endl;
+        // std::shared_ptr<PurePursuitPath> path = std::make_shared<PurePursuitPath>(
+        //     std::vector<Pose2d>{
+        //         {0.6_m, 0_m, 0_deg},
+        //         {1_m, 1_m, 0_deg}
+        //     }, 0.02_m,
+        //     PurePursuitPath::Constraints{0.6, 1.0, 2.0}
+        // );
+        // double b = 0.98;
+        // double a = 1 - b;
+        // double tol = 0.001;
+        // path->smoothen(a, b, tol);
+        // path->fillPointInformation();
+
+        // for (const auto& point : path->points) {
+        //     std::cout << point.pose.toString() << " => " << point.distanceFromStart << "m, " << point.curvature << " curvature, " << point.targetVelocity << " m/s" << std::endl;
+        // }
+        // robot::drive->controller->followPath(path, 0.3_m, 0.01_m, {0.01, 1.0, 15.0});
+        // std::cout << Pose2d::fromOdomState(robot::drive->controller->getState()).toString() << std::endl;
     }
 
     std::stringstream ss;

diff --git a/src/opcontrol.cpp b/src/opcontrol.cpp
@@ -44,10 +44,10 @@ void opcontrol() {
 				xDriveRegularOverride = !xDriveRegularOverride;
 				overrideLatch = true;
 				if (xDriveRegularOverride) {
-					master.rumble(".-");
+					master.rumble("..");
 					master.setText(0, 0, "Mode: robot");
 				} else {
-					master.rumble("-.");
+					master.rumble(".");
 					master.setText(0, 0, "Mode: field");
 				}
 			}

diff --git a/src/robot/conveyor.cpp b/src/robot/conveyor.cpp
@@ -97,7 +97,7 @@ void Conveyor::loop() {
 			stop(Position::Top);
 			checkingForBalls.store(false, std::memory_order_release);
 		}
-		pros::delay(100);
+		pros::delay(50);
 	}
 }
 } // namespace robot