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/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 5e60311..fad5020 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -21,12 +21,12 @@
name='IntakePivot',
motor=control_loop.KrakenFOC(),
G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
- J=0.25,
- q_pos=0.80,
- q_vel=30.0,
+ J=0.4,
+ q_pos=1.0,
+ q_vel=800.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
- kalman_q_voltage=2.0,
+ kalman_q_voltage=1.5,
kalman_r_position=0.05,
radius=6.85 * 0.0254)