commit 5c40ea4c8a7708ff42bc6780d994e0d6e11a0bdb
author Austin Schuh <austin.linux@gmail.com> Sun Sep 26 13:28:03 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Sep 26 13:38:56 2021 -0700
tree 2d0dbd1e50243db7f04a10711491aaf839bd0b1c
parent 575524e7f6b46b14a74732ca8961c033981e5113

Tune shooter control loop

It converges much faster now.  To plot live, use:

  web_proxy_main.stripped --buffer_size 10000

Change-Id: I499b8cdac176e26b33fd6cbef2bc0b2a3b5e0c9a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/control_loops/python/finisher.py

diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 35ff48f..7ccccd6 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -33,7 +33,7 @@
 # The position and velocity are measured for the final wheel.
 kFinisher = flywheel.FlywheelParams(
     name='Finisher',
-    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.01),
+    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
     G=G,
     J=J,
     q_pos=0.01,