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use velocity sign instead of closed loop sign for motion magic position control #187

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Merged
shishghate merged 2 commits into from
Apr 4, 2026
Merged

use velocity sign instead of closed loop sign for motion magic position control #187

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9911b70
use velocity sign instead of closed loop sign for motion magic positi…
henrymilbert Apr 1, 2026
44f92b8
also make flipper use velocity sign
henrymilbert Apr 1, 2026
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3 changes: 0 additions & 3 deletions src/main/resources/yaml/ztldr.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -195,7 +195,6 @@ subsystems:
slot0:
kS: 0.3 # static friction - increase if stalling near setpoint
kP: 50 # position error gain - increase if not reaching target, decrease if oscillating
staticFeedforwardSign: UseClosedLoopSign
motionMagic:
expoKV: 10 # cruise speed - lower = faster, higher = slower
expoKA: 5.0 # acceleration smoothness - higher = gentler ramp, lower = snappier
Expand Down Expand Up @@ -261,7 +260,6 @@ subsystems:
slot0:
kS: 0.8
kP: 100
staticFeedforwardSign: UseClosedLoopSign
motionMagic:
expoKV: 1
expoKA: 0.3
Expand All @@ -274,7 +272,6 @@ subsystems:
kS: 0.1 # static friction - increase if turret won't move at small errors
kP: 4 # position error gain - increase if still lagging, decrease if oscillating at setpoint
kD: 0.28 # damping - increase if oscillating, keep roughly kP/20
staticFeedforwardSign: UseClosedLoopSign
motionMagic:
expoKV: 0.04 #0.10 # cruise speed - lower = faster moves, higher = slower. Start here, decrease if turret feels sluggish
expoKA: 0.1 #0.2 # acceleration smoothness - increase if dead zone reversals are too violent, decrease if turret feels mushy
Expand Down
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