commit 4ad11a6cd2847f4cb87afe3e2a1975cf6ca16cda
author Austin Schuh <austin.linux@gmail.com> Sat Mar 02 13:10:27 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 02 13:21:41 2024 -0800
tree ec1d14c0a279dbddc92e0e1670fe557d695e28e3
parent 9ea583f2db8801bbc6891fb07b82c1b26470a02d

Tune loops on 2024 bot

Rollers were going too fast, current limits were bad.  This mostly
works.

Change-Id: Ia5a697c03cd0b20b431f58f6fbaccc297debceae
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2024/control_loops/python/altitude.py

diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
index d302b79..544eddc 100644
--- a/y2024/control_loops/python/altitude.py
+++ b/y2024/control_loops/python/altitude.py
@@ -24,7 +24,7 @@
     motor=control_loop.KrakenFOC(),
     G=(16.0 / 60.0) * (16.0 / 162.0),
     # 4340 in^ lb
-    J=1.27,
+    J=1.2,
     q_pos=0.60,
     q_vel=8.0,
     kalman_q_pos=0.12,