commit 8aacbefbf789274435137c5b351ffeef3f08c0d4
author Austin Schuh <austin.linux@gmail.com> Sat Oct 16 23:15:14 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Oct 17 13:12:28 2021 -0700
tree 6c804a54040a950557a3494433b12da06cb20507
parent 0beb7dc3c7c70bec1486e0b29f740377b3875ccf

Update intake gear ratio

It was too slow, so we sped it up.  Retune the loop slightly and update
the accel in joystick reader now that we can.

Change-Id: I4cc6bff7449b218a17b11230a08bc17d10b470bb
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/control_loops/python/intake.py

diff --git a/y2020/control_loops/python/intake.py b/y2020/control_loops/python/intake.py
index de60b28..1035070 100644
--- a/y2020/control_loops/python/intake.py
+++ b/y2020/control_loops/python/intake.py
@@ -20,8 +20,8 @@
 kIntake = angular_system.AngularSystemParams(
     name='Intake',
     motor=control_loop.BAG(),
-    G=(12.0 / 24.0) * (1.0 / 7.0) * (1.0 / 7.0) * (16.0 / 32.0),
-    J=6 * 0.139 * 0.139,
+    G=(12.0 / 24.0) * (1.0 / 5.0) * (1.0 / 5.0) * (16.0 / 32.0),
+    J=8 * 0.139 * 0.139,
     q_pos=0.40,
     q_vel=20.0,
     kalman_q_pos=0.12,

y2020/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 34d3f54..9a080fb 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -191,7 +191,7 @@
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
           intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
               *builder.fbb(), intake_pos,
-              CreateProfileParameters(*builder.fbb(), 10.0, 30.0));
+              CreateProfileParameters(*builder.fbb(), 20.0, 70.0));
 
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
           turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(