commit ce232a95d45a64d827ffcae6101da84c75913706
author Maxwell Henderson <mxwhenderson@gmail.com> Sun Feb 18 12:17:37 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 18 20:03:28 2024 -0800
tree 799946d5b9ba3f80ca908763d90d5c6ac96f47d8
parent 838ee04e017a89230c762feec155481bc0414741

Update intake and climber constants

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ib7318810b000d3c1bc1a9a086af7048c3c9704da

y2024/control_loops/python/climber.py

diff --git a/y2024/control_loops/python/climber.py b/y2024/control_loops/python/climber.py
index 10aeff9..9dd347b 100644
--- a/y2024/control_loops/python/climber.py
+++ b/y2024/control_loops/python/climber.py
@@ -14,19 +14,19 @@
 except gflags.DuplicateFlagError:
     pass
 
-# TODO(Filip): Update information the climber when design is finalized.
 kClimber = linear_system.LinearSystemParams(
     name='Climber',
-    motor=control_loop.Falcon(),
-    G=(1.0 / 4.0) * (1.0 / 3.0) * (1.0 / 3.0),
-    radius=22 * 0.25 / numpy.pi / 2.0 * 0.0254,
-    mass=2.0,
+    motor=control_loop.KrakenFOC(),
+    G=(8. / 60.) * (16. / 60.),
+    radius=16 * 0.25 / numpy.pi / 2.0 * 0.0254,
+    mass=1.0,
     q_pos=0.10,
     q_vel=1.35,
     kalman_q_pos=0.12,
     kalman_q_vel=2.00,
     kalman_q_voltage=35.0,
-    kalman_r_position=0.05)
+    kalman_r_position=0.05,
+)
 
 
 def main(argv):

y2024/control_loops/python/intake_pivot.py

diff --git a/y2024/control_loops/python/intake_pivot.py b/y2024/control_loops/python/intake_pivot.py
index f32aa8b..81a616f 100644
--- a/y2024/control_loops/python/intake_pivot.py
+++ b/y2024/control_loops/python/intake_pivot.py
@@ -20,8 +20,8 @@
 kIntakePivot = angular_system.AngularSystemParams(
     name='IntakePivot',
     motor=control_loop.KrakenFOC(),
-    G=(16.0 / 60.0) * (18.0 / 62.0) * (18.0 / 62.0) * (15.0 / 24.0),
-    J=0.34,  # Borrowed from 2022, 0.035 seems too low
+    G=(16. / 60.) * (18. / 62.) * (18. / 62.) * (15. / 24.),
+    J=0.25,
     q_pos=0.40,
     q_vel=20.0,
     kalman_q_pos=0.12,
@@ -52,4 +52,4 @@
 if __name__ == '__main__':
     argv = FLAGS(sys.argv)
     glog.init()
-    sys.exit(main(argv))
\ No newline at end of file
+    sys.exit(main(argv))