From 8a906131de3aaa7313c36315f3b113f687315ae1 Mon Sep 17 00:00:00 2001 From: Caleb Chalmers Date: Sun, 31 Mar 2024 02:55:48 +0000 Subject: [PATCH] Adjust robot constants --- ut-robomaster/src/robots/hero/hero_constants.hpp | 4 ++-- ut-robomaster/src/robots/sentry/sentry_constants.hpp | 5 ++++- ut-robomaster/src/robots/standard/standard_constants.hpp | 6 +++--- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/ut-robomaster/src/robots/hero/hero_constants.hpp b/ut-robomaster/src/robots/hero/hero_constants.hpp index ce10aaa1..0f614648 100644 --- a/ut-robomaster/src/robots/hero/hero_constants.hpp +++ b/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 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, diff --git a/ut-robomaster/src/robots/sentry/sentry_constants.hpp b/ut-robomaster/src/robots/sentry/sentry_constants.hpp index 211d3604..a064f03a 100644 --- a/ut-robomaster/src/robots/sentry/sentry_constants.hpp +++ b/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; diff --git a/ut-robomaster/src/robots/standard/standard_constants.hpp b/ut-robomaster/src/robots/standard/standard_constants.hpp index 53e69ea4..8c70f56f 100644 --- a/ut-robomaster/src/robots/standard/standard_constants.hpp +++ b/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;