commit 2fb23641ec6ed4804422bf4aa6d5f6d957abb3d9
author Austin Schuh <austin.linux@gmail.com> Sat Feb 29 15:10:51 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 01 15:33:25 2020 -0800
tree 494d0c6066ac67deb8a338573716a28d310ae417
parent 3b3496ad47082d0db923ef55eb821376a3d2be2f

Tune turret for real

Add in friction compensation and tune the controller a bit.  Fix a poor
velocity estimate.

Change-Id: I153b659bf92d5f34f0e8f59fda34e3c693e41d6a

y2020/control_loops/python/turret.py

diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index e276457..5a27afb 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -22,12 +22,12 @@
     name='Turret',
     motor=control_loop.Vex775Pro(),
     G=(6.0 / 60.0) * (26.0 / 150.0),
-    J=0.11,
-    q_pos=0.40,
-    q_vel=7.0,
+    J=0.20,
+    q_pos=0.30,
+    q_vel=4.5,
     kalman_q_pos=0.12,
-    kalman_q_vel=2.0,
-    kalman_q_voltage=3.0,
+    kalman_q_vel=10.0,
+    kalman_q_voltage=12.0,
     kalman_r_position=0.05)
 
 def main(argv):