commit 78f0bfd9241e1b21664b353c3a2c17b507593571
author Austin Schuh <austin.linux@gmail.com> Sat Feb 29 23:04:21 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 01 15:54:55 2020 -0800
tree d6a4eccd067d4a095787cab82ac381681dff23a1
parent 2fb23641ec6ed4804422bf4aa6d5f6d957abb3d9

Tune hood

Add some dither to reduce stiction and add the friction compensation

Change-Id: I3d23de0b3eadd4b1f25954bf7defbd0b70f7025f

y2020/control_loops/python/hood.py

diff --git a/y2020/control_loops/python/hood.py b/y2020/control_loops/python/hood.py
index b4d8c84..98ddfe4 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -31,13 +31,13 @@
 kHood = angular_system.AngularSystemParams(
     name='Hood',
     motor=control_loop.BAG(),
-    G=radians_per_turn,
-    J=0.08389,
-    q_pos=0.55,
-    q_vel=14.0,
+    G=radians_per_turn / (2.0 * numpy.pi),
+    J=4.0,
+    q_pos=0.15,
+    q_vel=5.0,
     kalman_q_pos=0.12,
-    kalman_q_vel=2.0,
-    kalman_q_voltage=2.5,
+    kalman_q_vel=10.0,
+    kalman_q_voltage=15.0,
     kalman_r_position=0.05)