commit 6c20f20d183c025d91df90ade040b8cb809f38cc
author Austin Schuh <austin.linux@gmail.com> Sat Feb 18 22:31:44 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 19 00:12:58 2017 -0800
tree dfa13e697175b69555853f6cdd5efcadaa67bd4b
parent cd3237ac40ec65657c4be2f382b1b469ef5ce597

Added A_continuous and B_continuous to StateFeedbackPlantCoefficients

Change-Id: I0c2649e0ef4986c6b9122bf59adc8ad1d45572f4

y2017/control_loops/python/shooter.py

diff --git a/y2017/control_loops/python/shooter.py b/y2017/control_loops/python/shooter.py
index 64732b5..6c0f2f3 100755
--- a/y2017/control_loops/python/shooter.py
+++ b/y2017/control_loops/python/shooter.py
@@ -3,6 +3,7 @@
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import controls
 import numpy
+import scipy
 import sys
 from matplotlib import pylab
 
@@ -132,6 +133,11 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
+    glog.debug('A: \n%s', repr(self.A_continuous))
+    glog.debug('eig(A): \n%s', repr(scipy.linalg.eig(self.A_continuous)))
+    glog.debug('schur(A): \n%s', repr(scipy.linalg.schur(self.A_continuous)))
+    glog.debug('A_dt(A): \n%s', repr(self.A))
+
     q_pos = 0.01
     q_vel = 2.0
     q_voltage = 0.2