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/turret.py b/y2024/control_loops/python/turret.py
index 259e104..41cc48a 100644
--- a/y2024/control_loops/python/turret.py
+++ b/y2024/control_loops/python/turret.py
@@ -23,11 +23,11 @@
G=(14.0 / 60.0) * (28.0 / 48.0) * (22.0 / 100.0),
# 1305 in^2 lb
J=0.4,
- q_pos=0.40,
- q_vel=20.0,
+ q_pos=0.60,
+ q_vel=10.0,
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=24 * 0.0254)