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TechnoJays · Mar 4, 2016 · 63e68f0 · 63e68f0
1 parent 5208c6c
commit 63e68f0
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/src/commands/drive_encoder_counts.py b/src/commands/drive_encoder_counts.py
@@ -38,9 +38,9 @@ def execute(self):
         distance_left = self._target_position - current
         # Determine direction using target and current encoder values
         if (distance_left) >= 0:
-            direction = 1.0
-        else:
             direction = -1.0
+        else:
+            direction = 1.0
         linear_drive_amount = self._speed * direction
         if (distance_left < self._ramp_threshold):
             linear_drive_amount = linear_drive_amount * (distance_left) / self._ramp_threshold

diff --git a/src/configs/auto.ini b/src/configs/auto.ini
@@ -1,5 +1,5 @@
 [Drivetrain]
-DISTANCE_TO_OBSTACLE: 100
+DISTANCE_TO_OBSTACLE: 2000
 AUTO_SPEED: 0.5
 THRESHOLD: 10
 RAMP_THRESHOLD: 20
@@ -14,7 +14,7 @@ FEED_TIME: 2.0
 
 [Arm]
 LOWER_BOUND: 150
-LOWER_SPEED: 0.25
+LOWER_SPEED: 0.5
 
 [Hook]
 EXTEND_SPEED: 1.0

diff --git a/src/configs/commands.ini b/src/configs/commands.ini
@@ -34,7 +34,7 @@ TURN_ANGLE: 90
 TURN_THRESHOLD: 5
 
 [ShootCommand]
-ARM_LIFT_TIME: 0.25
+ARM_LIFT_TIME: 0.4
 ARM_LIFT_SPEED: -1.0
 FEED_OUT_TIME: 0.5
 FEED_OUT_SPEED: -1.0