commit 989a313d68bf94fe66146163c069d040fbd95990
author Austin Schuh <austin.linux@gmail.com> Thu Feb 20 18:20:06 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Feb 20 20:08:48 2020 -0800
tree db5ae8f29248da4d1f16a40c0ab8f832c99dd99d
parent c1c957aca2bdb353493a35001819b5dd87df0db7

Initial tuning of the control loops.

These were tuned by looking at the plots and looking at how aggressive
the controller is.

Change-Id: I68d7b396ccdcc79640bbffaea8102414720fe164

y2020/control_loops/python/intake.py

diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
index 7e95758..9e80244 100644
--- a/y2020/control_loops/python/intake.py
+++ b/y2020/control_loops/python/intake.py
@@ -22,8 +22,8 @@
     motor=control_loop.BAG(),
     G=(12.0 / 24.0) * (1.0 / 7.0) * (1.0 / 7.0) * (16.0 / 32.0),
     J=3.0 * 0.139 * 0.139,
-    q_pos=0.20,
-    q_vel=5.0,
+    q_pos=0.40,
+    q_vel=20.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
     kalman_q_voltage=4.0,