Tune 2019 subsystems
Change-Id: I0b1d6bb26e70c01236a2f295e36896688c109442
diff --git a/y2019/control_loops/python/wrist.py b/y2019/control_loops/python/wrist.py
index 2e292a2..66b7b26 100755
--- a/y2019/control_loops/python/wrist.py
+++ b/y2019/control_loops/python/wrist.py
@@ -4,6 +4,7 @@
from frc971.control_loops.python import control_loop
from frc971.control_loops.python import angular_system
from frc971.control_loops.python import controls
+import copy
import numpy
import sys
from matplotlib import pylab
@@ -36,12 +37,15 @@
kalman_q_voltage=4.0,
kalman_r_position=0.05)
+kWristModel = copy.copy(kWrist)
+kWristModel.J = 0.1348
+
def main(argv):
if FLAGS.plot:
R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
- angular_system.PlotMotion(kWrist, R)
- angular_system.PlotKick(kWrist, R)
+ angular_system.PlotKick(kWrist, R, plant_params=kWristModel)
+ angular_system.PlotMotion(kWrist, R, plant_params=kWristModel)
# Write the generated constants out to a file.
if len(argv) != 5: