Further robot bringup
* Add some basic buttons for controlling the superstructure.
* Put climber into brake mode.
* Tune intake a bit.
* Add more information to superstructure.
* Improve sequencing to match robot's behavior better.
* Add slightly better collision avoidance for turret/extend, until
a more proper solution is implemented (see
https://software.frc971.org/gerrit/c/971-Robot-Code/+/8184).
Change-Id: I5d5c77de5f3ef209be64950301ddf610f56d8064
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index a699a2f..5e60311 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -22,8 +22,8 @@
motor=control_loop.KrakenFOC(),
G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
J=0.25,
- q_pos=0.40,
- q_vel=60.0,
+ q_pos=0.80,
+ q_vel=30.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
kalman_q_voltage=2.0,