Tune the flywheel and accelerator
Change-Id: I04530b7b5e0565f4dfe6d2978d1beb259f1fb0af
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 035586a..35ff48f 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -17,21 +17,30 @@
# 40 tooth on the flywheel
# 48 for the falcon.
# 60 tooth on the outer wheel.
-G = 48.0 / 40.0
+G = 44.0 / 40.0
# Overall flywheel inertia.
J = 0.00507464
+J = 0.008
+
+def AddResistance(motor, resistance):
+ motor.resistance += resistance
+ return motor
+
+def ScaleKv(motor, scale):
+ motor.Kv *= scale
+ return motor
# The position and velocity are measured for the final wheel.
kFinisher = flywheel.FlywheelParams(
name='Finisher',
- motor=control_loop.NMotor(control_loop.Falcon(), 2),
+ motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.01),
G=G,
J=J,
q_pos=0.01,
- q_vel=100.0,
- q_voltage=6.0,
- r_pos=0.05,
- controller_poles=[.90])
+ q_vel=10.0,
+ q_voltage=4.0,
+ r_pos=0.01,
+ controller_poles=[.89])
def main(argv):