Tune arm acceleration limits and voltage limits
These seem to somewhat preserve the bot.
Change-Id: I49f9d175263916982c52e32cedfaebd0678d749a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/arm/arm.h b/y2023/control_loops/superstructure/arm/arm.h
index 6e4cc29..6b7da54 100644
--- a/y2023/control_loops/superstructure/arm/arm.h
+++ b/y2023/control_loops/superstructure/arm/arm.h
@@ -28,20 +28,20 @@
// the operating voltage.
static constexpr double kOperatingVoltage() {
- return kGrannyMode() ? 5.0 : 12.0;
+ return kGrannyMode() ? 6.0 : 12.0;
}
+ static constexpr double kVMax() { return kGrannyMode() ? 4.0 : 9.5; }
+ static constexpr double kPathlessVMax() { return 4.5; }
+ static constexpr double kGotoPathVMax() { return 4.5; }
+
static constexpr double kDt() { return 0.00505; }
static constexpr std::chrono::nanoseconds kDtDuration() {
return std::chrono::duration_cast<std::chrono::nanoseconds>(
std::chrono::duration<double>(kDt()));
}
- static constexpr double kAlpha0Max() { return kGrannyMode() ? 5.0 : 15.0; }
- static constexpr double kAlpha1Max() { return kGrannyMode() ? 5.0 : 15.0; }
- static constexpr double kAlpha2Max() { return kGrannyMode() ? 5.0 : 15.0; }
-
- static constexpr double kVMax() { return kGrannyMode() ? 5.0 : 11.5; }
- static constexpr double kPathlessVMax() { return 5.0; }
- static constexpr double kGotoPathVMax() { return 6.0; }
+ static constexpr double kAlpha0Max() { return kGrannyMode() ? 15.0 : 15.0; }
+ static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 10.0; }
+ static constexpr double kAlpha2Max() { return kGrannyMode() ? 90.0 : 90.0; }
flatbuffers::Offset<superstructure::ArmStatus> Iterate(
const ::aos::monotonic_clock::time_point /*monotonic_now*/,