commit e18cf50e8c91c1dbcbfe3f891e92019039227172
author Brian Silverman <brians> Sat Nov 28 23:04:43 2015 +0000
committer Brian Silverman <brians> Sat Nov 28 23:05:40 2015 +0000
tree f581771b773e2a113966da4b0c886c2e2e00cd4c
parent c206573dff8ba0751a96c2b5e536222bc4818565

s/controla/controlla/g

Change-Id: I03c0f320181b969edb271cded8a80dcebd12334e

y2015_bot3/control_loops/python/controls.py

diff --git a/y2015_bot3/control_loops/python/controls.py b/y2015_bot3/control_loops/python/controls.py
index b66bd56..6fc7c63 100755
--- a/y2015_bot3/control_loops/python/controls.py
+++ b/y2015_bot3/control_loops/python/controls.py
@@ -92,9 +92,9 @@
   return numpy.matrix(ans_a), numpy.matrix(ans_b)
 
 def ctrb(A, B):
-  """Returns the controlability matrix.
+  """Returns the controllability matrix.
 
-    This matrix must have full rank for all the states to be controlable.
+    This matrix must have full rank for all the states to be controllable.
   """
   n = A.shape[0]
   output = B

y2015_bot3/control_loops/python/elevator3.py

diff --git a/y2015_bot3/control_loops/python/elevator3.py b/y2015_bot3/control_loops/python/elevator3.py
index 0c62e5f..4b15bd0 100755
--- a/y2015_bot3/control_loops/python/elevator3.py
+++ b/y2015_bot3/control_loops/python/elevator3.py
@@ -70,7 +70,7 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    controlability = controls.ctrb(self.A, self.B)
+    controllability = controls.ctrb(self.A, self.B)
 
     q_pos = 0.015
     q_vel = 0.5