New set of shooter constants. Should have less overshoot.
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 9cda41c..25a6795 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -13,11 +13,11 @@
# Stall Current in Amps
self.stall_current = 85
# Free Speed in RPM
- self.free_speed = 19300.0 - 2700.0
+ self.free_speed = 19300.0 - 1500.0
# Free Current in Amps
self.free_current = 1.4
# Moment of inertia of the shooter wheel in kg m^2
- self.J = 0.0012
+ self.J = 0.0040
# Resistance of the motor, divided by 2 to account for the 2 motors
self.R = 12.0 / self.stall_current / 2
# Motor velocity constant
@@ -67,8 +67,8 @@
shooter.Update(numpy.matrix([[shooter_data[i, 1]]]))
simulated_x.append(shooter.X[0, 0])
x_offset = shooter_data[i, 2] - initial_x
- real_x.append(x_offset / 2)
- x_vel.append(shooter_data[i, 2] - last_x)
+ real_x.append(x_offset)
+ x_vel.append((shooter_data[i, 2] - last_x) * 100.0)
last_x = shooter_data[i, 2]
sim_delay = 1
diff --git a/frc971/control_loops/shooter/shooter_data.csv b/frc971/control_loops/shooter/shooter_data.csv
index 1c110f8..3515070 100644
--- a/frc971/control_loops/shooter/shooter_data.csv
+++ b/frc971/control_loops/shooter/shooter_data.csv
@@ -1,117 +1,638 @@
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diff --git a/frc971/control_loops/shooter/shooter_motor_plant.cc b/frc971/control_loops/shooter/shooter_motor_plant.cc
index c13ce2d..809d918 100644
--- a/frc971/control_loops/shooter/shooter_motor_plant.cc
+++ b/frc971/control_loops/shooter/shooter_motor_plant.cc
@@ -8,9 +8,9 @@
StateFeedbackPlant<2, 1, 1> MakeShooterPlant() {
Eigen::Matrix<double, 2, 2> A;
- A << 1.0, 0.0098571228289, 0.0, 0.971561310859;
+ A << 1.0, 0.00993695674898, 0.0, 0.987417901985;
Eigen::Matrix<double, 2, 1> B;
- B << 0.00785005397639, 1.56249765488;
+ B << 0.00319456032937, 0.637566599616;
Eigen::Matrix<double, 1, 2> C;
C << 1, 0;
Eigen::Matrix<double, 1, 1> D;
@@ -24,9 +24,9 @@
StateFeedbackLoop<2, 1, 1> MakeShooterLoop() {
Eigen::Matrix<double, 2, 1> L;
- L << 1.07156131086, 28.0940195016;
+ L << 1.08741790198, 29.5581442884;
Eigen::Matrix<double, 1, 2> K;
- K << 0.486400730028, 0.247515916371;
+ K << 1.19203233114, 0.631478943582;
return StateFeedbackLoop<2, 1, 1>(L, K, MakeShooterPlant());
}