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/superstructure/superstructure.h

diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index d5f4235..8f7cd8c 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -26,6 +26,9 @@
   static constexpr double kTurretFrictionGain = 10.0;
   static constexpr double kTurretFrictionVoltageLimit = 1.5;
 
+  static constexpr double kHoodFrictionGain = 40.0;
+  static constexpr double kHoodFrictionVoltageLimit = 1.5;
+
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
           ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
@@ -52,6 +55,9 @@
   shooter::Shooter shooter_;
 
   Climber climber_;
+
+  double time_ = 0.0;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };