| commit | 43603511d5bb043d212e151bdaed47333ba6b31c | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Apr 16 19:11:37 2017 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun May 28 17:11:40 2017 -0700 |
| tree | 73df366f6eb6623a3298e36b997383bea42285a9 | |
| parent | 546a0389bfe4e0db646c39d55e8352555f9b77c7 [diff] [blame] |
Re-tuned shooter controller. There is still a bit of overshoot, but that's going to be really hard to get rid of. This is finally tuned for the synchronized PWM. Change-Id: If02e28a3c33829b5ab1847bc2ebf21c5722eef29
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc index 6df4b04..795a7d4 100644 --- a/y2017/control_loops/superstructure/shooter/shooter.cc +++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -93,7 +93,7 @@ if (reset_) { // TODO(austin): I'd rather not be incrementing X_hat each time. Sort out // something better. - loop_->mutable_X_hat(3, 0) += 1.5; + loop_->mutable_X_hat(3, 0) += 1.0; reset_ = false; } last_ready_ = ready_;