Switch to 5ms loops since we are only on CAN
CAN runs at a 5ms sample loop, there's no reason to run our loops at the
PWM rate since we have no PWM motors. This aligns wakeups a lot better
with CAN and reduced CPU load rather significantly.
Change-Id: I289792b732878c32b5e6a6ef931dfa5c8528a98a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
index 544eddc..a06bda7 100644
--- a/y2024/control_loops/python/altitude.py
+++ b/y2024/control_loops/python/altitude.py
@@ -31,7 +31,8 @@
kalman_q_vel=2.0,
kalman_q_voltage=2.0,
kalman_r_position=0.05,
- radius=10.5 * 0.0254)
+ radius=10.5 * 0.0254,
+ dt=0.005)
def main(argv):
diff --git a/y2024/control_loops/python/catapult.py b/y2024/control_loops/python/catapult.py
index 49c6305..406f56e 100644
--- a/y2024/control_loops/python/catapult.py
+++ b/y2024/control_loops/python/catapult.py
@@ -40,7 +40,8 @@
kalman_q_voltage=0.7,
kalman_r_position=0.05,
radius=12 * 0.0254,
- delayed_u=1)
+ delayed_u=1,
+ dt=0.005)
kCatapultWithoutGamePiece = angular_system.AngularSystemParams(
name='Catapult',
@@ -57,7 +58,8 @@
kalman_q_voltage=0.7,
kalman_r_position=0.05,
radius=12 * 0.0254,
- delayed_u=1)
+ delayed_u=1,
+ dt=0.005)
def main(argv):
diff --git a/y2024/control_loops/python/climber.py b/y2024/control_loops/python/climber.py
index 997cf28..1b4e3d2 100644
--- a/y2024/control_loops/python/climber.py
+++ b/y2024/control_loops/python/climber.py
@@ -26,6 +26,7 @@
kalman_q_vel=2.00,
kalman_q_voltage=35.0,
kalman_r_position=0.05,
+ dt=0.005,
)
diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py
index 282b146..b52f70d 100644
--- a/y2024/control_loops/python/drivetrain.py
+++ b/y2024/control_loops/python/drivetrain.py
@@ -28,6 +28,7 @@
force=True,
kf_q_voltage=1.0,
controller_poles=[0.82, 0.82],
+ dt=0.005,
)
diff --git a/y2024/control_loops/python/extend.py b/y2024/control_loops/python/extend.py
index f95c995..e8f066b 100644
--- a/y2024/control_loops/python/extend.py
+++ b/y2024/control_loops/python/extend.py
@@ -31,6 +31,7 @@
kalman_q_vel=2.0,
kalman_q_voltage=8.0,
kalman_r_position=0.05,
+ dt=0.005,
)
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 5ea5c3f..c240d01 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -29,7 +29,8 @@
kalman_q_voltage=1.0,
kalman_r_position=0.05,
radius=6.85 * 0.0254,
- enable_voltage_error=False)
+ enable_voltage_error=False,
+ dt=0.005)
def main(argv):
diff --git a/y2024/control_loops/python/turret.py b/y2024/control_loops/python/turret.py
index 41cc48a..07c3d90 100644
--- a/y2024/control_loops/python/turret.py
+++ b/y2024/control_loops/python/turret.py
@@ -29,7 +29,8 @@
kalman_q_vel=2.0,
kalman_q_voltage=2.0,
kalman_r_position=0.05,
- radius=24 * 0.0254)
+ radius=24 * 0.0254,
+ dt=0.005)
def main(argv):