Retune finisher to not oscillate
There is a small overshoot which appears to be battery or falcon
related, but everything looks a lot smoother and in phase. I don't see
the wild oscillations we were seeing before.
The plus side is that this appears to have made the ball counter work a
lot better.
Change-Id: Id43da39b12ace9516d3698f41ecc667afdab6de8
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/python/finisher.py b/y2020/control_loops/python/finisher.py
index 7ccccd6..8c33cc3 100644
--- a/y2020/control_loops/python/finisher.py
+++ b/y2020/control_loops/python/finisher.py
@@ -20,7 +20,7 @@
G = 44.0 / 40.0
# Overall flywheel inertia.
J = 0.00507464
-J = 0.008
+J = 0.0035
def AddResistance(motor, resistance):
motor.resistance += resistance
@@ -40,7 +40,7 @@
q_vel=10.0,
q_voltage=4.0,
r_pos=0.01,
- controller_poles=[.89])
+ controller_poles=[.93])
def main(argv):
@@ -58,4 +58,5 @@
if __name__ == '__main__':
argv = FLAGS(sys.argv)
+ glog.init()
sys.exit(main(argv))