Tune catapult MPC
This no longer oscillates. It's a better model.
Change-Id: I50a1d6dcfa48a96258992b64c3acd686038754e9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
index 2d0588a..9e9adf7 100755
--- a/y2022/control_loops/python/catapult.py
+++ b/y2022/control_loops/python/catapult.py
@@ -41,7 +41,7 @@
J_cup = M_cup * lever**2.0 + M_cup * (ball_diameter / 2.)**2.0
-J = (0.6 * J_ball + J_bar + J_cup * 0.0)
+J = (0.0 * J_ball + J_bar + J_cup * 0.0)
JEmpty = (J_bar + J_cup * 0.0)
kCatapultWithBall = catapult_lib.CatapultParams(