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/extend.py b/y2024/control_loops/python/extend.py
index e84b45e..f95c995 100644
--- a/y2024/control_loops/python/extend.py
+++ b/y2024/control_loops/python/extend.py
@@ -25,20 +25,23 @@
G=(14. / 60.) * (32. / 48.),
radius=36 * 0.005 / numpy.pi / 2.0,
mass=5.0,
- q_pos=0.40,
- q_vel=3.0,
+ q_pos=0.20,
+ q_vel=80.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
+ kalman_q_voltage=8.0,
kalman_r_position=0.05,
)
def main(argv):
if FLAGS.plot:
- R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
+ R = numpy.matrix([[0.4], [0.0]])
linear_system.PlotKick(kExtend, R)
- linear_system.PlotMotion(kExtend, R)
+ linear_system.PlotMotion(kExtend,
+ R,
+ max_velocity=2.0,
+ max_acceleration=15.0)
return
# Write the generated constants out to a file.