commit 9cc9ab62439ccb3991518f6f1ddf68544857d050
author Diana Vandenberg <dkvandenberg2@gmail.com> Wed Apr 20 21:27:47 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri May 13 20:24:50 2016 -0700
tree 543ce475bf147f35155d7c0c9b8d2277da7269af
parent 71466fee065243bcad915ccc5f7fcb214030fc45

Initial stab at hanging actor.

Change-Id: I7d225176962759f8cbcdd42e72fe21eb003349a2

y2016/control_loops/python/arm.py

diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 75f0c59..4d5bbb9 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -379,7 +379,7 @@
 
   scenario_plotter = ScenarioPlotter()
 
-  J_accelerating = 12
+  J_accelerating = 15
   J_decelerating = 5
 
   arm = Arm(name='AcceleratingArm', J=J_accelerating)

y2016/control_loops/python/intake.py

diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index cc2dfaf..d99160d 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -42,7 +42,7 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.34 + 0.65
+    self.J = 0.34 + 0.40
 
     # Control loop time step
     self.dt = 0.005
@@ -73,7 +73,7 @@
     glog.debug("Free speed is %f", self.free_speed * numpy.pi * 2.0 / 60.0 / self.G)
 
     q_pos = 0.20
-    q_vel = 5.5
+    q_vel = 5.0
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])
 

y2016/control_loops/superstructure/superstructure.cc

diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index fb54a95..d90ec68 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -627,7 +627,7 @@
   arm_.set_max_voltage(kill_shoulder_ ? 0.0 : max_voltage, max_voltage);
   intake_.set_max_voltage(max_voltage);
 
-  if (IsRunning()) {
+  if (IsRunning() && !kill_shoulder_) {
     // We don't want lots of negative voltage when we are near the bellypan on
     // the shoulder...
     // TODO(austin): Do I want to push negative power into the belly pan at this