| commit | 20d90204b80c5ffe85bb965fc318622f0d091dd1 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Mon Sep 02 13:16:16 2024 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Mon Sep 02 22:46:48 2024 -0700 |
| tree | 5a9237e5c35d5ce682d76ba7c2fed982c77a3862 | |
| parent | 9ff4f307f3f0862da1d4a6e12adfe09773bce365 [diff] |
Solve slow, backwards trajectories We were not searching far enough to learn that you are best of steering aggressively from the start. Extend the horizon far enough to discover that. Change-Id: I530f59169680c52ca0a389d6673cdaf626d98270 Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/swerve/casadi_velocity_mpc.py b/frc971/control_loops/swerve/casadi_velocity_mpc.py index d108931..620d7ec 100644 --- a/frc971/control_loops/swerve/casadi_velocity_mpc.py +++ b/frc971/control_loops/swerve/casadi_velocity_mpc.py
@@ -58,7 +58,7 @@ casadi.SX.sym("U", 8, 1)) for i in range(4) ] - self.N = 50 + self.N = 200 # Start with an empty nonlinear program. self.w = []