commit 65b4f9d5bd3a723b844aef683050566ff1e29ce1
author Austin Schuh <austin.linux@gmail.com> Sun Mar 17 16:03:10 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 17 16:04:15 2024 -0700
tree 6e8b346e23321b8421970af45d699a952c7f0859
parent 8ba6c5c13062d6095d7da18b93173d30622f114e

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>

y2024/control_loops/python/drivetrain.py

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,
 )