Tune new hood
Now that we've got better hardware, remove all the hacks to make the old
hood work and tune it. Much better!
Change-Id: I923cff6c133a23e732b7b593d92a5fa40398a298
diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index db6b727..eacb7fd 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -21,9 +21,9 @@
# joint. We are currently electing to ignore potential non-linearity.
range_of_travel_radians = (38.0 * numpy.pi / 180.0)
-# 0.472441 inches/turn (12 mm)
+# 0.5 inches/turn
# 6.7725 inches of travel
-turns_of_leadscrew_per_range_of_travel = 6.7725 / 0.472441
+turns_of_leadscrew_per_range_of_travel = 6.7725 / 0.5
radians_per_turn = range_of_travel_radians / turns_of_leadscrew_per_range_of_travel
@@ -33,13 +33,13 @@
name='Hood',
motor=control_loop.BAG(),
G=radians_per_turn_of_motor / (2.0 * numpy.pi),
- J=4.0,
+ J=0.1,
q_pos=0.15,
- q_vel=5.0,
+ q_vel=10.0,
kalman_q_pos=0.12,
kalman_q_vel=10.0,
- kalman_q_voltage=15.0,
- kalman_r_position=0.05)
+ kalman_q_voltage=30.0,
+ kalman_r_position=0.02)
def main(argv):