Add catapult debouncing and tuning
Changes taken from unreviewed/austin/sequencing_bringup_2024_2_26 with
extra changes to superstructure_lib_test to make them pass.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I2bed5a39fce12cac08a7fe005ab60866c513962f
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 16acec6..e7c9ca4 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -38,8 +38,8 @@
"max_acceleration": 3.0
},
"default_profile_params":{
- "max_velocity": 0.5,
- "max_acceleration": 3.0
+ "max_velocity": 2.0,
+ "max_acceleration": 5.0
},
"range": {
"lower_hard": -0.2,
@@ -71,10 +71,11 @@
"turret_stator_current_limit": 40,
"altitude_supply_current_limit": 10,
"altitude_stator_current_limit": 60,
- "catapult_supply_current_limit": 10,
- "catapult_stator_current_limit": 30,
- "retention_roller_stator_current_limit": 5,
+ "catapult_supply_current_limit": 60,
+ "catapult_stator_current_limit": 250,
+ "retention_roller_stator_current_limit": 20,
"slower_retention_roller_stator_current_limit": 2,
+ "shooting_retention_roller_stator_current_limit": -20,
"retention_roller_supply_current_limit": 10
},
"transfer_roller_voltages": {
@@ -111,7 +112,7 @@
},
"catapult": {
"zeroing_voltage": 3.0,
- "operating_voltage": 3.0,
+ "operating_voltage": 12.0,
"zeroing_profile_params": {
"max_velocity": 1.0,
"max_acceleration": 6.0
@@ -137,8 +138,8 @@
"max_acceleration": 3.0
},
"default_profile_params":{
- "max_velocity": 0.25,
- "max_acceleration": 0.25
+ "max_velocity": 3.0,
+ "max_acceleration": 5.0
},
"range": {
"lower_hard": -0.01,
@@ -156,8 +157,8 @@
"max_acceleration": 3.0
},
"default_profile_params":{
- "max_velocity": 1.00,
- "max_acceleration": 1.5
+ "max_velocity": 2.0,
+ "max_acceleration": 5.0
},
"range": {
"lower_hard": -4.8,
@@ -217,7 +218,7 @@
"max_altitude_shooting_angle": 0.89,
"retention_roller_voltages": {
"retaining": 1.5,
- "spitting": -6.0
+ "spitting": 6.0
},
// TODO(Filip): Update the speaker and amp shooter setpoints
"shooter_speaker_set_point": {
diff --git a/y2024/constants/constants.fbs b/y2024/constants/constants.fbs
index d2e4ede..dc41ec1 100644
--- a/y2024/constants/constants.fbs
+++ b/y2024/constants/constants.fbs
@@ -83,6 +83,7 @@
retention_roller_supply_current_limit:double (id: 18);
retention_roller_stator_current_limit:double (id: 19);
slower_retention_roller_stator_current_limit:double (id: 20);
+ shooting_retention_roller_stator_current_limit:double (id: 23);
catapult_supply_current_limit:double (id: 21);
catapult_stator_current_limit:double (id: 22);
}