Fixed the shooter constants, a bunch of initialization bugs, and made it work without springs.
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index c2b9dbb..89f682a 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -20,7 +20,7 @@
# This rough estimate should about include the effect of the masses
# of the gears. If this number is too low, the eigen values of self.A
# will start to become extremely small.
- self.J = 20
+ self.J = 200
# Resistance of the motor, divided by the number of motors.
self.R = 12.0 / self.stall_current / 2.0
# Motor velocity constant
@@ -110,7 +110,7 @@
self.C = numpy.matrix([[1.0, 0.0, 0.0]])
self.D = numpy.matrix([[0.0]])
- self.PlaceControllerPoles([0.55, 0.45, 0.80])
+ self.PlaceControllerPoles([0.50, 0.35, 0.80])
print "K"
print self.K