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/superstructure/finisher_plotter.ts

diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 18052cc..6ec4be4 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -1,7 +1,7 @@
 // Provides a plot for debugging robot state-related issues.
 import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
 import * as proxy from 'org_frc971/aos/network/www/proxy';
-import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from 'org_frc971/aos/network/www/colors';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, BLACK} from 'org_frc971/aos/network/www/colors';
 
 import Connection = proxy.Connection;
 
@@ -26,11 +26,12 @@
   velocityPlot.plot.getAxisLabels().setTitle('Velocity');
   velocityPlot.plot.getAxisLabels().setXLabel(TIME);
   velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
-  velocityPlot.plot.setDefaultYRange([0.0, 450.0]);
+  velocityPlot.plot.setDefaultYRange([0.0, 600.0]);
 
   velocityPlot.addMessageLine(goal, ['shooter', 'velocity_finisher']).setColor(BLUE).setPointSize(0.0);
   velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'avg_angular_velocity']).setColor(RED).setPointSize(0.0);
   velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'angular_velocity']).setColor(GREEN).setPointSize(0.0);
+  velocityPlot.addMessageLine(status, ['shooter', 'ready']).setColor(BLACK).setPointSize(0.0);
   velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
 
   const voltagePlot =