commit 43b9ae95f735b3c9df3fc380277cd66df3c296bd
author Austin Schuh <austin.linux@gmail.com> Sat Feb 29 23:08:38 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 01 16:09:09 2020 -0800
tree 8732d9f8ba088572048f3d45aae39a9ca0ad99f4
parent 78f0bfd9241e1b21664b353c3a2c17b507593571

Tune flywheels

Switch to hybrid kalman filter, plot voltage error

Change-Id: I9ade9a741aae58bdb3818c23bfe91b18786235f3

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 27a659a..9c36c90 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -284,9 +284,9 @@
 
     def InitializeState(self):
         """Sets X, Y, and X_hat to zero defaults."""
-        self.X = numpy.zeros((self.A.shape[0], 1))
+        self.X = numpy.matrix(numpy.zeros((self.A.shape[0], 1)))
         self.Y = self.C * self.X
-        self.X_hat = numpy.zeros((self.A.shape[0], 1))
+        self.X_hat = numpy.matrix(numpy.zeros((self.A.shape[0], 1)))
 
     def PlaceControllerPoles(self, poles):
         """Places the controller poles.