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