commit 039d4f95b93c44f97f21058a5a33cc88e3190f08
author Austin Schuh <austin.linux@gmail.com> Thu Apr 04 05:52:03 2013 +0000
committer Austin Schuh <austin.linux@gmail.com> Thu Apr 04 05:52:03 2013 +0000
tree ac85d002bc3f6fd047952cb95221d703d85cc331
parent 86bec78458a7bbca1b13233b9bf14473f7adc85f

Added friction compensation to the angle adjust.

frc971/control_loops/python/angle_adjust.py

diff --git a/frc971/control_loops/python/angle_adjust.py b/frc971/control_loops/python/angle_adjust.py
index 8ccf30f..6d84c0c 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -44,7 +44,7 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    self.PlaceControllerPoles([.45, .8])
+    self.PlaceControllerPoles([.45, .83])
 
     print "Unaugmented controller poles at"
     print self.K