Adjust robot constants

ut-robomaster/src/robots/hero/hero_constants.hpp

@@ -61,7 +61,7 @@ constexpr float CAMERA_X_OFFSET = 0.0f;    // horizontal offset of main camera l
 
 static constexpr modm::Pair<uint16_t, float> FLYWHEEL_RPS_MAPPING[] = {{10, 105.0f}, {16, 190.0f}};
 
-const float BALLS_PER_SEC = 2.0f;
+const float BALLS_PER_SEC = 4.0f;
 const float BALLS_PER_REV = 6.0f;
 const float FEEDER_RATIO = 1.0f;  // feeder speed / agitator speed
 
@@ -73,7 +73,7 @@ const float UNJAM_DURATION = 0.1f;        // s
 const float UNJAM_SPEED = 12.0f;          // rev/s
 
 static constexpr int FLYWHEELS = 2;
-static constexpr float DEFAULT_SPEED = 10.0f;
+static constexpr float DEFAULT_SPEED = 60.0f;
 
 static constexpr tap::algorithms::SmoothPidConfig YAW_PID_CONFIG = {
     .kp = 100'183.1f,

ut-robomaster/src/robots/sentry/sentry_constants.hpp

@@ -66,7 +66,10 @@ const float BALLS_PER_REV = 8.0f;
 
 const uint16_t BARREL_HEAT_BUFFER = 20.0f;
 
-const float UNJAM_SPEED = 0.4f;  // rev/s
+const float JAM_TRIGGER_RATIO = 0.5;      // measured speed to driven speed ratio
+const float JAM_TRIGGER_DURATION = 0.1f;  // s
+const float UNJAM_DURATION = 0.1f;        // s
+const float UNJAM_SPEED = 15.0f;          // rev/s
 
 // Turret constants ------------------------------------------------
 constexpr MotorId ID_YAW = MOTOR6;

ut-robomaster/src/robots/standard/standard_constants.hpp

@@ -66,9 +66,9 @@ const float BALLS_PER_REV = 8.0f;
 const uint16_t BARREL_HEAT_BUFFER = 20.0f;
 
 const float JAM_TRIGGER_RATIO = 0.5;      // measured speed to driven speed ratio
-const float JAM_TRIGGER_DURATION = 1.0f;  // s
-const float UNJAM_DURATION = 1.0f;        // s
-const float UNJAM_SPEED = 0.4f;           // rev/s
+const float JAM_TRIGGER_DURATION = 0.1f;  // s
+const float UNJAM_DURATION = 0.1f;        // s
+const float UNJAM_SPEED = 15.0f;          // rev/s
 
 // Turret constants ------------------------------------------------
 constexpr MotorId ID_YAW = MOTOR6;