diff --git a/skyward-boardcore b/skyward-boardcore index 5f1c2a6a2ec5930b3b9656657ba568cde403b5c0..5bad06f10cddf5caefbc9cdd9bbfd895dd41ebc8 160000 --- a/skyward-boardcore +++ b/skyward-boardcore @@ -1 +1 @@ -Subproject commit 5f1c2a6a2ec5930b3b9656657ba568cde403b5c0 +Subproject commit 5bad06f10cddf5caefbc9cdd9bbfd895dd41ebc8 diff --git a/src/boards/Main/Configs/ABKConfig.h b/src/boards/Main/Configs/ABKConfig.h index a234aa8114787a53e85bc533ee0ba9d5b9f29cd3..daacae19d036a4f872acb102ec5b10fada70eb3a 100644 --- a/src/boards/Main/Configs/ABKConfig.h +++ b/src/boards/Main/Configs/ABKConfig.h @@ -27,20 +27,6 @@ namespace Main { namespace ABKConfig { -// TODO remove this useless config from interpolation algorithm -static const Boardcore::AirBrakesConfig ABK_CONFIG{ - 0.4884, -1.4391, 6.6940, - -18.4272, 29.1044, -24.5585, - 8.6058, 9.0426, 159.5995, - 4.8188, -208.4471, 47.0771, - 1.9433e+03, -205.6689, -6.4634e+03, - 331.0332, 8.8763e+03, -161.8111, - -3.9917e+03, 2.8025e-06, 0.0373, - 20, -0.009216, 0.02492, - -0.01627, 0.03191, 0.017671458676443, - 0, -}; - constexpr uint32_t UPDATE_PERIOD = 100; // [ms] -> 10Hz // ABK algorithm configs diff --git a/src/boards/Main/StateMachines/ABKController/ABKController.cpp b/src/boards/Main/StateMachines/ABKController/ABKController.cpp index 06f9c0d3cac0e3f502e5053a3ea6760d481e4783..511bf03592b2146af18c5c1e415e4ad66f115102 100644 --- a/src/boards/Main/StateMachines/ABKController/ABKController.cpp +++ b/src/boards/Main/StateMachines/ABKController/ABKController.cpp @@ -47,8 +47,7 @@ ABKController::ABKController(TaskScheduler* sched) .get<NASController>() ->getNasState()); }, - OPEN_TRAJECTORY_SET, CLOSED_TRAJECTORY_SET, ABKConfig::ABK_CONFIG, - getConfig(), + OPEN_TRAJECTORY_SET, CLOSED_TRAJECTORY_SET, getConfig(), [](float position) { ModuleManager::getInstance().get<Actuators>()->setServoPosition(