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>

y2024/control_loops/python/intake_pivot.py

diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 81a616f..a699a2f 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -23,10 +23,10 @@
     G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
     J=0.25,
     q_pos=0.40,
-    q_vel=20.0,
+    q_vel=60.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=4.0,
+    kalman_q_voltage=2.0,
     kalman_r_position=0.05,
     radius=6.85 * 0.0254)