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/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):