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>
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<