commit 37dc40be4112f7624d4793d11c3253b3b5927b1b
author milind-u <milind.upadhyay@gmail.com> Tue Mar 08 19:51:27 2022 -0800
committer milind-u <milind.upadhyay@gmail.com> Tue Mar 08 19:51:57 2022 -0800
tree 0f48b102b72815f9b5d40dd401eafd953c528c83
parent 6cd631fc7ccecb5aa7412f0b74f55f0aa26df784

Bringup progress

Here's how far I got bringing the robot up.  Turret needs to be
re-calibrated again, it keeps slipping.

Change-Id: Idf8cb73973434cf9c64fd737852f1b3092b79c75
Signed-off-by: milind-u <milind.upadhyay@gmail.com>

y2022/control_loops/python/catapult.py

diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
index ce7496a..ad0e25a 100755
--- a/y2022/control_loops/python/catapult.py
+++ b/y2022/control_loops/python/catapult.py
@@ -41,8 +41,8 @@
 J_cup = M_cup * lever**2.0 + M_cup * (ball_diameter / 2.)**2.0
 
 
-J = (J_ball + J_bar + J_cup * 1.5)
-JEmpty = (J_bar + J_cup * 1.5)
+J = (0.6 * J_ball + J_bar + J_cup * 0.0)
+JEmpty = (J_bar + J_cup * 0.0)
 
 kCatapultWithBall = catapult_lib.CatapultParams(
     name='Catapult',
@@ -52,14 +52,14 @@
     radius=lever,
     q_pos=2.8,
     q_vel=20.0,
-    kalman_q_pos=0.12,
+    kalman_q_pos=0.01,
     kalman_q_vel=1.0,
     kalman_q_voltage=1.5,
-    kalman_r_position=0.05)
+    kalman_r_position=0.001)
 
 kCatapultEmpty = catapult_lib.CatapultParams(
     name='Catapult',
-    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
+    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.02),
     G=G,
     J=JEmpty,
     radius=lever,