feed tolerance increase

Choate-Robotics · Apr 11, 2024 · 0d5b7df · 0d5b7df
1 parent ae0be6e
commit 0d5b7df
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diff --git a/command/drivetrain.py b/command/drivetrain.py
@@ -146,6 +146,8 @@ def execute(self) -> None:
 
         self.theta_controller.setTolerance(
             self.target_calc.get_shot_pos_tolerance()
+            if self.target == DriveSwerveAim.Target.speaker
+            else config.drivetrain_feed_tolerance
         )
 
         dx, dy = (

diff --git a/config.py b/config.py
@@ -264,6 +264,7 @@ class LimelightPosition:
 min_drivetrain_tolerance: degrees = 1
 max_drivetrain_tolerance: degrees = 13
 drivetrain_static_tolerance_offset: degrees = 1
+drivetrain_feed_tolerance: degrees = 5