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/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):