Add battery compensation for the vacuum and tune it down
This means we continue to pump slowly even when pushing hard.
Change-Id: I332ffb90606f18137bd3fbb915e63ec0b08e4944
diff --git a/y2019/control_loops/superstructure/vacuum.h b/y2019/control_loops/superstructure/vacuum.h
index 599e2de..3fd5a49 100644
--- a/y2019/control_loops/superstructure/vacuum.h
+++ b/y2019/control_loops/superstructure/vacuum.h
@@ -17,18 +17,18 @@
// Voltage to the vaccum pump when we are attempting to acquire a piece
- static constexpr double kPumpVoltage = 12.0;
+ static constexpr double kPumpVoltage = 8.0;
// Voltage to the vaccum pump when we have a piece
- static constexpr double kPumpHasPieceVoltage = 8.0;
+ static constexpr double kPumpHasPieceVoltage = 2.0;
// Time to continue at the higher pump voltage after getting a gamepiece
static constexpr aos::monotonic_clock::duration kTimeAtHigherVoltage =
- std::chrono::milliseconds(200);
+ std::chrono::milliseconds(100);
// Time to continue the pump after getting a no suck goal
static constexpr aos::monotonic_clock::duration kTimeToKeepPumpRunning =
- std::chrono::milliseconds(1000);
+ std::chrono::milliseconds(750);
private:
bool had_piece_ = false;