Merge pull request #305 from thedropbears/retune_balistics

retune balistics

Author: LucienMorey

components/ballistics.py

@@ -43,21 +43,21 @@ class BallisticsComponent:
     barge_blue_mid_end_point = Translation2d(FIELD_LENGTH / 2, FIELD_WIDTH / 2)
 
     # TODO Retune for  >= 4m when the space allows
-    FLYWHEEL_DISTANCE_LOOKUP = (1.5, 2.0, 3.0)  # , 4.0
+    FLYWHEEL_DISTANCE_LOOKUP = (1.5, 2.0, 3.0, 4.0)
     # Keys of the lookup dictionaries are ball diameters in inches
     # Tuples are values corresponding to the distances above
     # fmt: off
     FLYWHEEL_TOP_SPEED_LOOKUP = {
-        ALGAE_MIN_DIAMETER: (30, 32.5, 38.0),  # , 90
+        ALGAE_MIN_DIAMETER: (31, 34, 37.0, 44.5),
         # 16.5: (60, 80),
-        ALGAE_MAX_DIAMETER: (33, 36, 39.0), # , 50
+        ALGAE_MAX_DIAMETER: (35, 37, 41.0, 45.0),
     }
     # Currently we use the same speed top and bottom, but this could be seperate
     FLYWHEEL_BOTTOM_SPEED_LOOKUP = FLYWHEEL_TOP_SPEED_LOOKUP
     FLYWHEEL_ANGLE_LOOKUP = {
-        ALGAE_MIN_DIAMETER: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
+        ALGAE_MIN_DIAMETER: (math.radians(-10), math.radians(-15), math.radians(-19), math.radians(-25)),
         # 16.5: (math.radians(-15), math.radians(-20)),
-        ALGAE_MAX_DIAMETER: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
+        ALGAE_MAX_DIAMETER: (math.radians(-10), math.radians(-15), math.radians(-19), math.radians(-25)),
     }
     # fmt: on
     BALL_SIZES = list(FLYWHEEL_ANGLE_LOOKUP.keys())