Tune end effector to hold cones
Adjust current limits and signs. It has now held a cube!
Change-Id: Ibb0a605b082a01e9dadd15fe43bd038610431da9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index 0451293..6494953 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -142,8 +142,8 @@
// Rollers
static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
- static constexpr double kRollerStatorCurrentLimit() { return 60.0; }
- static constexpr double kRollerVoltage() { return 12.0; }
+ static constexpr double kRollerStatorCurrentLimit() { return 100.0; }
+ static constexpr double kRollerVoltage() { return 6.0; }
// Game object is fed into end effector for at least this time
static constexpr std::chrono::milliseconds kExtraIntakingTime() {