Adjust elevator constants for improved performance tuning#193
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Tortuga-AM wants to merge 2 commits intomainfrom
Open
Adjust elevator constants for improved performance tuning#193Tortuga-AM wants to merge 2 commits intomainfrom
Tortuga-AM wants to merge 2 commits intomainfrom
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Pull Request Overview
This PR retunes elevator subsystem constants to refine performance and responsiveness.
- Reduce max velocity and acceleration to 40 in/s and 40 in/s².
- Lower Profiled PID Kp from 30 to 20.
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| // TODO: Set to smaller numbers once we have robot (low max vel/acc for testing, real should be around 100) | ||
| // public static final LinearVelocity MAX_VELOCITY = InchesPerSecond.of(10); | ||
| // public static final LinearAcceleration MAX_ACCELERATION = InchesPerSecond.per(Second).of(10); |
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The TODO comment suggests 'real should be around 100', which conflicts with the updated values (40). Please update or remove the comment to reflect the current tuning strategy to avoid confusion.
Suggested change
| // TODO: Set to smaller numbers once we have robot (low max vel/acc for testing, real should be around 100) | |
| // public static final LinearVelocity MAX_VELOCITY = InchesPerSecond.of(10); | |
| // public static final LinearAcceleration MAX_ACCELERATION = InchesPerSecond.per(Second).of(10); |
| public static final Current RIGHT_STRATOR_CURRENT_LIMIT = Amps.of(70); | ||
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| public static final PIDCoefficients PROFILLED_PID_CONSTANTS = new PIDCoefficients(30, 0, 1, 0); | ||
| public static final PIDCoefficients PROFILLED_PID_CONSTANTS = new PIDCoefficients(20, 0, 1, 0); |
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Typo in constant name: 'PROFILLED_PID_CONSTANTS' should be 'PROFILED_PID_CONSTANTS'. Please correct the spelling for clarity and consistency.
Suggested change
| public static final PIDCoefficients PROFILLED_PID_CONSTANTS = new PIDCoefficients(20, 0, 1, 0); | |
| public static final PIDCoefficients PROFILED_PID_CONSTANTS = new PIDCoefficients(20, 0, 1, 0); |
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