Addressed PR comments

huskyroboticsteam · Nov 9, 2024 · 9af9303 · 9af9303
1 parent 6625039
commit 9af9303
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/TunePID.cpp b/src/TunePID.cpp
@@ -139,7 +139,6 @@ int main(int argc, char** argv) {
 	int d_coeff = std::stoi(str);
 
 	can::motor::setMotorPIDConstants(serial, p_coeff, i_coeff, d_coeff);
-	// can::motor::setMotorPIDMaxPower(serial, 32767);  // this was here from circ
 	can::motor::setMotorMode(serial, can::motor::motormode_t::pid);
 	double period = 8.0;
 
@@ -167,7 +166,7 @@ int main(int argc, char** argv) {
 		if (mode == targetmode_t::step) {
 			prescaled_target = round(prescaled_target);
 		}
-		angle_target = (int32_t)round(amplitude * prescaled_target) + starting_angle;
+		angle_target = static_cast<int32_t>(round(amplitude * prescaled_target)) + starting_angle;
 
 		can::motor::setMotorPIDTarget(serial, angle_target);
 

diff --git a/src/world_interface/real_world_constants.h b/src/world_interface/real_world_constants.h
@@ -109,7 +109,8 @@ constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::dev
 constexpr auto motorPIDMap = frozen::make_unordered_map<motorid_t, pidcoef_t>(
 	{{motorid_t::shoulder, {200, 0, 0}},
 	 {motorid_t::elbow, {250, 0, 0}},
-	 // swerve constants need to be updated when firmware changes PID scaling
+	 // FIXME: swerve constants need to be updated when firmware changes PID scaling
+	 // Numbers should be 200
 	 {motorid_t::frontLeftSwerve, {2, 0, 0}},
 	 {motorid_t::frontRightSwerve, {2, 0, 0}},
 	 {motorid_t::rearLeftSwerve, {2, 0, 0}},