commit c27f2c9d8f3890553a2b8a5fd6b16acb1b441a68
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Apr 05 17:33:55 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Apr 05 18:02:06 2024 -0700
tree 58c16945a9c5a8c7dfeefae454662bcece86021d
parent 9f5da5ade1d53848c15cb54d3c64ae9dc5e6f8a3

Tune and zero altitude/turret

Change-Id: I45d1756f9717c2b48e3bcb859379c6c943d6be69
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/constants/971.json

diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 6b31bde..0723e10 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -40,11 +40,11 @@
     "altitude_constants": {
       {% set _ = altitude_zero.update(
           {
-              "measured_absolute_position" : 0.18140472352247
+              "measured_absolute_position" : 0.171384385546753
           }
       ) %}
       "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
-      "potentiometer_offset": {{ -0.16416323147786 + 0.0111742298989474 }}
+      "potentiometer_offset": {{ -0.16416323147786 + 0.0111742298989474 + 0.0288009597941421 + 0.030747789533187 }}
     },
     "turret_constants": {
       {% set _ = turret_zero.update(

y2024/constants/common.json

diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index 409a2d5..9ac7cb8 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -107,7 +107,7 @@
     "extend_roller_supply_current_limit": 50,
     "extend_roller_stator_current_limit": 180,
     "turret_supply_current_limit": 30,
-    "turret_stator_current_limit": 80,
+    "turret_stator_current_limit": 100,
     "altitude_supply_current_limit": 30,
     "altitude_stator_current_limit": 150,
     "catapult_supply_current_limit": 60,
@@ -174,7 +174,7 @@
     },
     "default_profile_params":{
       "max_velocity": 12.0,
-      "max_acceleration": 30.0
+      "max_acceleration": 55.0
     },
     "range": {
         "lower_hard": -4.8,

y2024/control_loops/python/altitude.py

diff --git a/y2024/control_loops/python/altitude.py b/y2024/control_loops/python/altitude.py
index a06bda7..0864301 100644
--- a/y2024/control_loops/python/altitude.py
+++ b/y2024/control_loops/python/altitude.py
@@ -25,11 +25,11 @@
     G=(16.0 / 60.0) * (16.0 / 162.0),
     # 4340 in^ lb
     J=1.2,
-    q_pos=0.60,
+    q_pos=0.40,
     q_vel=8.0,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
-    kalman_q_voltage=2.0,
+    kalman_q_voltage=3.0,
     kalman_r_position=0.05,
     radius=10.5 * 0.0254,
     dt=0.005)

y2024/control_loops/superstructure/shooter.cc

diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 6e31a31..1cd0191 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -166,14 +166,18 @@
                            ? shooter_goal->altitude_position()
                            : &altitude_goal_builder->AsFlatbuffer();
 
+  // TODO(austin): goal limit...
   const bool turret_in_range =
       (std::abs(turret_.estimated_position() - turret_goal->unsafe_goal()) <
        kCatapultActivationTurretThreshold) &&
-      (std::abs(turret_.estimated_velocity()) < 0.2);
+      (std::abs(turret_goal->goal_velocity()) < 0.2) &&
+      (std::abs(turret_.estimated_velocity()) < 1.0);
   const bool altitude_in_range =
       (std::abs(altitude_.estimated_position() - altitude_goal->unsafe_goal()) <
-       kCatapultActivationAltitudeThreshold) &&
-      (std::abs(altitude_.estimated_velocity()) < 0.1);
+       (altitude_goal->unsafe_goal() > 0.75
+            ? (5 * kCatapultActivationAltitudeThreshold)
+            : kCatapultActivationAltitudeThreshold)) &&
+      (std::abs(altitude_.estimated_velocity()) < 0.4);
   const bool altitude_above_min_angle =
       (altitude_.estimated_position() >
        robot_constants_->common()->min_altitude_shooting_angle());