Change maximum DS packet interval from 250ms to 500ms to match FMS.

Team254 · Jul 28, 2024 · 367750e · 367750e
1 parent 9bd23c3
commit 367750e
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/field/arena.go b/field/arena.go
@@ -22,7 +22,7 @@ import (
 
 const (
 	arenaLoopPeriodMs        = 10
-	dsPacketPeriodMs         = 250
+	dsPacketPeriodMs         = 500
 	periodicTaskPeriodSec    = 30
 	matchEndScoreDwellSec    = 3
 	postTimeoutSec           = 4

diff --git a/field/arena_test.go b/field/arena_test.go
@@ -108,7 +108,7 @@ func TestArenaMatchFlow(t *testing.T) {
 	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-10 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, lastPacketCount, arena.AllianceStations["B3"].DsConn.packetCount)
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, lastPacketCount+1, arena.AllianceStations["B3"].DsConn.packetCount)
 
@@ -161,25 +161,25 @@ func TestArenaMatchFlow(t *testing.T) {
 
 	// Check E-stop and bypass.
 	arena.AllianceStations["B3"].EStop = true
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, TeleopPeriod, arena.MatchState)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
 	arena.AllianceStations["B3"].Bypass = true
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, TeleopPeriod, arena.MatchState)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
 	arena.AllianceStations["B3"].EStop = false
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, TeleopPeriod, arena.MatchState)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
 	arena.AllianceStations["B3"].Bypass = false
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, TeleopPeriod, arena.MatchState)
 	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
@@ -200,7 +200,7 @@ func TestArenaMatchFlow(t *testing.T) {
 
 	arena.AllianceStations["R1"].Bypass = true
 	arena.ResetMatch()
-	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
+	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-550 * time.Millisecond)
 	arena.Update()
 	assert.Equal(t, PreMatch, arena.MatchState)
 	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Auto)