Rezero catapult & speed up transfer rollers
This seems like it shaves off ~0.15 sec from the total
intake/serialization time. We probably have another 0.05-0.1 sec on the
table across all the rollers, but I don't want to risk it.
Change-Id: I5eb8a03030b37b691405a66009e26bac25c8a3bc
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 4fc2f3a..1a9d221 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -43,7 +43,7 @@
}
) %}
"zeroing_constants": {{ catapult_zero | tojson(indent=2)}},
- "potentiometer_offset": {{ 9.41595277209342 }}
+ "potentiometer_offset": {{ 9.41595277209342 - 1.59041961316453 + 0.478015209219659 }}
},
"altitude_constants": {
{% set _ = altitude_zero.update(
diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index b387f69..52fdb74 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -89,7 +89,7 @@
"intake_pivot_stator_current_limit": 100,
"intake_roller_supply_current_limit": 20,
"intake_roller_stator_current_limit": 100,
- "transfer_roller_supply_current_limit": 20,
+ "transfer_roller_supply_current_limit": 40,
"transfer_roller_stator_current_limit": 50,
"drivetrain_supply_current_limit": 50,
"drivetrain_stator_current_limit": 200,
@@ -111,7 +111,7 @@
"retention_roller_supply_current_limit": 10
},
"transfer_roller_voltages": {
- "transfer_in": 9.0,
+ "transfer_in": 11.0,
"transfer_out": -4.0,
"extend_moving": 4.0
},
@@ -277,4 +277,4 @@
"red": [1, 2, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16],
"blue": [1, 2, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16]
}
-}
\ No newline at end of file
+}