| commit | 2fc178f1891f84b19a93a75093d25fceb66d0baf | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Apr 24 19:09:26 2016 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Fri May 13 20:24:51 2016 -0700 |
| tree | c1a99765ec5955ff44fdea4f56b870bfdff8ca3a | |
| parent | fef64ac18017d0247844191990d2dda82269b43b [diff] [blame] |
Re-tuned superstructure controls The loop tuning was causing the shooter to rotate up at times. Retuning the shooter fixed this. Change-Id: I67d8eade6650aa55557c631e0fa7a61fa345ca37
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py index 660e577..f08f1a2 100755 --- a/y2016/control_loops/python/wrist.py +++ b/y2016/control_loops/python/wrist.py
@@ -39,7 +39,7 @@ # Gear ratio self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0) - self.J = 0.20 + self.J = 0.35 # Control loop time step self.dt = 0.005