commit 6e7d8d42f1052d7caf13356895828e89db42bd2a
author milind-u <milind.upadhyay@gmail.com> Wed Apr 06 18:30:43 2022 -0700
committer milind-u <milind.upadhyay@gmail.com> Wed Apr 06 18:30:43 2022 -0700
tree 394cc060473de246d6eed68ac12ec31da4eb0095
parent b9ba9a5289b54eb0b1b910832e65362346065851

Add climber servo code

Used for traversing to high bar.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I333c581c33aab3f2d960db8452b5b1783aab9a5a

y2022/control_loops/python/climber.py

diff --git a/y2022/control_loops/python/climber.py b/y2022/control_loops/python/climber.py
index fd1707b..5f5ae38 100755
--- a/y2022/control_loops/python/climber.py
+++ b/y2022/control_loops/python/climber.py
@@ -17,7 +17,7 @@
 kClimber = linear_system.LinearSystemParams(
     name='Climber',
     motor=control_loop.Falcon(),
-    G=(1.0 / 10.0) * (1.0 / 3.0) * (1.0 / 3.0),
+    G=(1.0 / 4.0) * (1.0 / 3.0) * (1.0 / 3.0),
     radius=22 * 0.25 / numpy.pi / 2.0 * 0.0254,
     mass=2.0,
     q_pos=0.10,