Update intake pivot constants
Update intake pivot encoder ratio, intake pivot gear
ratio, moment of inertia, and radius (CAD estimates)
Signed-off-by: Nathan Leong <nathanrleong@gmail.com>
Change-Id: I77592c01fa0eb56ab90ee95830f7bc4e8ac3e58a
diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index 9e7543b..f32aa8b 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -20,16 +20,15 @@
kIntakePivot = angular_system.AngularSystemParams(
name='IntakePivot',
motor=control_loop.KrakenFOC(),
- # TODO(Niko): Change gear ratios when we have all of them
- G=0.02,
- J=0.34,
+ G=(16.0 / 60.0) * (18.0 / 62.0) * (18.0 / 62.0) * (15.0 / 24.0),
+ J=0.34, # Borrowed from 2022, 0.035 seems too low
q_pos=0.40,
q_vel=20.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
kalman_q_voltage=4.0,
kalman_r_position=0.05,
- radius=13 * 0.0254)
+ radius=6.85 * 0.0254)
def main(argv):