commit f70e8e112d2a2dc64381e0dcb315bff85e6e1f49
author milind-u <milind.upadhyay@gmail.com> Sat Oct 02 12:36:00 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Oct 02 20:55:02 2021 -0700
tree bafc986420fa26e81cf6a77404bfafce8ec5d944
parent 6ceb40e5daa44a0b2eecfb9d98791054d7ef23f7

Update turret gear ratio and tuned controller

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: Ibc6a255c866c77af7d909e311217398f3bf26135
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index cea1fdd..72d3297 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -588,6 +588,9 @@
         # Torque constant
         self.Kt = self.stall_torque / self.stall_current
 
+        # Motor inertia in kg m^2
+        self.motor_inertia = 0.0001634
+
 
 class NMotor(object):
     def __init__(self, motor, n):

y2020/control_loops/python/turret.py

diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index acddae3..6f15057 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -20,14 +20,14 @@
 
 kTurret = angular_system.AngularSystemParams(
     name='Turret',
-    motor=control_loop.Vex775Pro(),
-    G=(6.0 / 60.0) * (26.0 / 150.0),
+    motor=control_loop.MiniCIM(),
+    G=(26.0 / 150.0) * (14.0 / 60.0) * (20.0 / 60.0),
     J=0.20,
     q_pos=0.30,
     q_vel=4.5,
     kalman_q_pos=0.12,
     kalman_q_vel=10.0,
-    kalman_q_voltage=12.0,
+    kalman_q_voltage=20.0,
     kalman_r_position=0.05)
 
 def main(argv):

y2020/control_loops/superstructure/superstructure.h

diff --git a/y2020/control_loops/superstructure/superstructure.h b/y2020/control_loops/superstructure/superstructure.h
index e4a9cb6..59e976e 100644
--- a/y2020/control_loops/superstructure/superstructure.h
+++ b/y2020/control_loops/superstructure/superstructure.h
@@ -26,9 +26,9 @@
 
   // Terms to control the velocity gain for the friction compensation, and the
   // voltage cap.
-  static constexpr double kTurretFrictionGain = 10.0;
+  static constexpr double kTurretFrictionGain = 0.0;
   static constexpr double kTurretFrictionVoltageLimit = 1.5;
-  static constexpr double kTurretDitherGain = 0.4;
+  static constexpr double kTurretDitherGain = 0.0;
 
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<

y2020/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 3e91d1e..bdc16fa 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -456,7 +456,7 @@
                    kMaxBringupPower) /
             12.0);
 
-    turret_victor_->SetSpeed(std::clamp(-output.turret_voltage(),
+    turret_victor_->SetSpeed(std::clamp(output.turret_voltage(),
                                         -kMaxBringupPower, kMaxBringupPower) /
                              12.0);