commit 8047677d5c127493d963e625f4016b6e755ae333
author Austin Schuh <austin.linux@gmail.com> Sat Mar 06 20:17:36 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 10 20:59:57 2021 -0800
tree 6cc8fca83e4526d75b1b20b5f8b63e01db74be93
parent a9e9640a9f40791aff56b929c90ab0c5cf15741b

Tune the flywheel and accelerator

Change-Id: I04530b7b5e0565f4dfe6d2978d1beb259f1fb0af

y2020/control_loops/superstructure/shooter/shooter.cc

diff --git a/y2020/control_loops/superstructure/shooter/shooter.cc b/y2020/control_loops/superstructure/shooter/shooter.cc
index 8cdcf8c..9db79b0 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.cc
+++ b/y2020/control_loops/superstructure/shooter/shooter.cc
@@ -16,8 +16,11 @@
 }  // namespace
 
 Shooter::Shooter()
-    : finisher_(finisher::MakeIntegralFinisherLoop(), finisher::kBemf,
-                finisher::kResistance),
+    : finisher_(
+          finisher::MakeIntegralFinisherLoop(), finisher::kBemf,
+          // There are 2 motors.  So the current limit per motor is going to be
+          // using resistance * 2 to un-parallel the motor resistances.
+          finisher::kResistance * 2.0),
       accelerator_left_(accelerator::MakeIntegralAcceleratorLoop(),
                         accelerator::kBemf, accelerator::kResistance),
       accelerator_right_(accelerator::MakeIntegralAcceleratorLoop(),