commit 087613bf07e1a539475bc483fc84b4d6ac94f4cb
author Austin Schuh <austin.linux@gmail.com> Mon Feb 19 12:39:08 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Feb 19 22:17:02 2024 -0800
tree 089bb86ef7bfb64f5d6c97e220b9a44507ad1c07
parent 2e282d1c54f0a2091988f0118d17151e662ee6e3

First pass at tuning 2024 subsystems

The Krakens make everything a bit more exciting.  Apply a first pass at
tuning everything.

Change-Id: I4a6541c3f052a3b38fc229f2625039ab72cf00fd
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/python/angular_system.py

diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index c7e13b8..beade85 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -22,7 +22,8 @@
                  kalman_q_voltage,
                  kalman_r_position,
                  radius=None,
-                 dt=0.00505):
+                 dt=0.00505,
+                 delayed_u=0):
         """Constructs an AngularSystemParams object.
 
         Args:
@@ -42,6 +43,7 @@
         self.kalman_r_position = kalman_r_position
         self.radius = radius
         self.dt = dt
+        self.delayed_u = delayed_u
 
 
 class AngularSystem(control_loop.ControlLoop):