Tune new shot table with final battery compensation turned off
Turns out, battery compensating the last cycle of the control loop was
causing accuracy problems, especially under load. Turn that off just
for the end and retune all the shots.
Change-Id: I781d339644703a2cb592b22a49757b0054aa780a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 9d27780..fb91cc5 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -139,21 +139,23 @@
// Interpolation table for comp and practice robots
r.shot_interpolation_table = InterpolationTable<Values::ShotParams>({
- {1.0, {0.0, 19.0}},
- {1.6, {0.0, 19.0}},
- {1.9, {0.1, 19.0}},
- {2.12, {0.15, 18.8}},
- {2.9, {0.25, 19.2}},
- {3.2, {0.28, 20.3}},
+ {1.0, {0.05, 19.4}},
+ {1.6, {0.05, 19.4}},
+ {1.9, {0.1, 19.4}},
+ {2.12, {0.13, 19.4}},
+ {2.9, {0.24, 19.9}},
- {3.60, {0.33, 20.3}},
- {4.9, {0.4, 21.9}},
+ {3.2, {0.26, 20.7}},
+
+ {3.60, {0.33, 20.9}},
+ {4.50, {0.38, 22.5}},
+ {4.9, {0.4, 22.9}},
{5.4, {0.4, 23.9}},
- {6.0, {0.40, 25.0}},
- {7.0, {0.37, 27.1}},
- {7.8, {0.35, 28.0}},
- {10.0, {0.35, 28.0}},
+ {6.0, {0.40, 25.4}},
+ {7.0, {0.37, 28.1}},
+
+ {10.0, {0.37, 28.1}},
});
if (false) {