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>
diff --git a/y2024/control_loops/python/climber.py b/y2024/control_loops/python/climber.py
index 9dd347b..997cf28 100644
--- a/y2024/control_loops/python/climber.py
+++ b/y2024/control_loops/python/climber.py
@@ -19,9 +19,9 @@
motor=control_loop.KrakenFOC(),
G=(8. / 60.) * (16. / 60.),
radius=16 * 0.25 / numpy.pi / 2.0 * 0.0254,
- mass=1.0,
- q_pos=0.10,
- q_vel=1.35,
+ mass=2.0,
+ q_pos=0.03,
+ q_vel=2.,
kalman_q_pos=0.12,
kalman_q_vel=2.00,
kalman_q_voltage=35.0,
@@ -31,12 +31,13 @@
def main(argv):
if FLAGS.plot:
- R = numpy.matrix([[0.2], [0.0]])
- linear_system.PlotKick(kClimber, R, plant_params=kClimber)
+ R = numpy.matrix([[0.4], [0.0]])
linear_system.PlotMotion(kClimber,
R,
max_velocity=5.0,
plant_params=kClimber)
+ linear_system.PlotKick(kClimber, R, plant_params=kClimber)
+ return
# Write the generated constants out to a file.
if len(argv) != 7:
@@ -45,7 +46,8 @@
)
else:
namespaces = ['y2024', 'control_loops', 'superstructure', 'climber']
- linear_system.WriteLinearSystem(kClimber, argv[1:4], argv[4:7], namespaces)
+ linear_system.WriteLinearSystem(kClimber, argv[1:4], argv[4:7],
+ namespaces)
if __name__ == '__main__':