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Use feedforward during driving (#177)
* Add advantage-scope lilscoots model configuration * update offsets and models * start * Use FF values * Add constants for module max acceleration --------- Co-authored-by: having11 <gatoninja236@gmail.com>
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{ | ||
"name": "Scoots", | ||
"sourceUrl": "https://esko.onshape.com/documents/ed824b879f12a1905be71511/w/b6d4967fdcca0e3c193bd4dc/e/f9e6220adc6e2fa74aa1afa4", | ||
"rotations": [ | ||
{ | ||
"axis": "x", | ||
"degrees": 90 | ||
}, | ||
{ | ||
"axis": "y", | ||
"degrees": 0 | ||
}, | ||
{ | ||
"axis": "z", | ||
"degrees": -90 | ||
} | ||
], | ||
"position": [ 0, 0, 0 ], | ||
"cameras": [], | ||
"components": [ | ||
{ | ||
"zeroedRotations": [ | ||
{ | ||
"axis": "x", | ||
"degrees": -90 | ||
}, | ||
{ | ||
"axis": "y", | ||
"degrees": -90 | ||
}, | ||
{ | ||
"axis": "z", | ||
"degrees": -90 | ||
} | ||
], | ||
"zeroedPosition": [ | ||
0.8, | ||
0.2, | ||
0.2 | ||
] | ||
}, | ||
{ | ||
"zeroedRotations": [ | ||
{ | ||
"axis": "x", | ||
"degrees": 90 | ||
}, | ||
{ | ||
"axis": "y", | ||
"degrees": -15 | ||
}, | ||
{ | ||
"axis": "z", | ||
"degrees": 180 | ||
} | ||
], | ||
"zeroedPosition": [ | ||
-0.12, | ||
0.3, | ||
0.07 | ||
] | ||
}, | ||
{ | ||
"zeroedRotations": [ | ||
{ | ||
"axis": "x", | ||
"degrees": 90 | ||
}, | ||
{ | ||
"axis": "y", | ||
"degrees": -12 | ||
}, | ||
{ | ||
"axis": "z", | ||
"degrees": 180 | ||
} | ||
], | ||
"zeroedPosition": [ | ||
-0.1, | ||
-0.3, | ||
0.07 | ||
] | ||
} | ||
] | ||
} |
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Submodule common
updated
2 files
+23 −7 | lib/cpp/subzero/singleaxis/LinearSingleAxisSubsystem.cpp | |
+18 −5 | lib/cpp/subzero/singleaxis/RotationalSingleAxisSubsystem.cpp |
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@@ -1,27 +1,30 @@ | ||
#pragma once | ||
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#include <units/length.h> | ||
#include <units/voltage.h> | ||
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namespace CharacterizationConstants { | ||
namespace FrontLeftDrive { | ||
constexpr double kS = 0.43779; | ||
constexpr double kV = 2.4439; | ||
constexpr double kA = 0.36441; | ||
constexpr units::volt_t kS = 0.43779_V; | ||
constexpr auto kV = 2.4439_V / 1_mps; | ||
constexpr auto kA = 0.36441_V / 1_mps_sq; | ||
} // namespace FrontLeftDrive | ||
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namespace FrontRightDrive { | ||
constexpr double kS = 0.47478; | ||
constexpr double kV = 2.4511; | ||
constexpr double kA = 0.36441; | ||
constexpr units::volt_t kS = 0.47478_V; | ||
constexpr auto kV = 2.4511_V / 1_mps; | ||
constexpr auto kA = 0.36441_V / 1_mps_sq; | ||
} // namespace FrontRightDrive | ||
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namespace RearLeftDrive { | ||
constexpr double kS = 0.43972; | ||
constexpr double kV = 2.4352; | ||
constexpr double kA = 0.35057; | ||
constexpr units::volt_t kS = 0.43972_V; | ||
constexpr auto kV = 2.4352_V / 1_mps; | ||
constexpr auto kA = 0.35057_V / 1_mps_sq; | ||
} // namespace RearLeftDrive | ||
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namespace RearRightDrive { | ||
constexpr double kS = 0.41185; | ||
constexpr double kV = 2.4218; | ||
constexpr double kA = 0.41332; | ||
constexpr units::volt_t kS = 0.41185_V; | ||
constexpr auto kV = 2.4218_V / 1_mps; | ||
constexpr auto kA = 0.41332_V / 1_mps_sq; | ||
} // namespace RearRightDrive | ||
} // namespace CharacterizationConstants |
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