Recalibrated all our loops.
Shooter works much much better now. There's still a bit of
oscillation, but it's a lot better.
Change-Id: Ie3b8e09125d62e5b2011c6874fab97641c0b6526
diff --git a/y2017/control_loops/python/column.py b/y2017/control_loops/python/column.py
index e94c227..d6043b3 100755
--- a/y2017/control_loops/python/column.py
+++ b/y2017/control_loops/python/column.py
@@ -57,7 +57,7 @@
self.A_continuous, self.B_continuous, self.dt)
q_indexer_vel = 13.0
- q_pos = 0.04
+ q_pos = 0.05
q_vel = 0.8
self.Q = numpy.matrix([[(1.0 / (q_indexer_vel ** 2.0)), 0.0, 0.0],
[0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -176,9 +176,9 @@
self.Kff = numpy.matrix(numpy.zeros((2, 6)))
self.Kff[:, 0:4] = orig_Kff
- q_pos = 0.12
+ q_pos = 0.40
q_vel = 2.00
- q_voltage = 4.0
+ q_voltage = 8.0
if voltage_error_noise is not None:
q_voltage = voltage_error_noise