commit dfeb83c154700760c2bd81392e8a93dd0c14282f
author Austin Schuh <austin.linux@gmail.com> Sat Mar 12 13:17:49 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 13:20:18 2022 -0800
tree d8f50b0cfc8a363c235cb6d7671b0158f3fc07d4
parent f82524ce700b1a5bd4e6a2dca6ca3dfeaf2c5638

Tune catapult to be a lot more accurate

Transition to the decel controller 1 cycle sooner, and also make sure to
use the aggressive decel that same cycle.

This increases shot accuracy quite a bit.

Also, tune the controller a bit.  It seems to have lower resistance than
expected.

Change-Id: I04e3ad6e08ebc0a4aab5c9c3706eee27ab111a60
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/control_loops/python/catapult.py

diff --git a/y2022/control_loops/python/catapult.py b/y2022/control_loops/python/catapult.py
index ad0e25a..2d0588a 100755
--- a/y2022/control_loops/python/catapult.py
+++ b/y2022/control_loops/python/catapult.py
@@ -46,7 +46,7 @@
 
 kCatapultWithBall = catapult_lib.CatapultParams(
     name='Catapult',
-    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.03),
+    motor=AddResistance(control_loop.NMotor(control_loop.Falcon(), 2), 0.01),
     G=G,
     J=J,
     radius=lever,