| commit | 051b46220af7a182ec6debaf15c6d2eb3666ec0f | [log] [tgz] |
|---|---|---|
| author | Campbell Crowley <mail@campbellcrowley.com> | Sat Nov 05 15:07:54 2016 -0700 |
| committer | Campbell Crowley <mail@campbellcrowley.com> | Sat Nov 05 15:07:54 2016 -0700 |
| tree | f72186263f01416b7d68d3a258dda9a6333a8f0b | |
| parent | 483d62784bda3db2011d045de29bbe162cfba892 [diff] [blame] |
Tuned drive Change-Id: I6e174df4a55195bde9605b49b8ed42cb4b62eb99
diff --git a/y2016_bot3/control_loops/python/polydrivetrain.py b/y2016_bot3/control_loops/python/polydrivetrain.py index ac85bb6..07f9ff9 100755 --- a/y2016_bot3/control_loops/python/polydrivetrain.py +++ b/y2016_bot3/control_loops/python/polydrivetrain.py
@@ -128,7 +128,7 @@ # FF * X = U (steady state) self.FF = self.B.I * (numpy.eye(2) - self.A) - self.PlaceControllerPoles([0.67, 0.67]) + self.PlaceControllerPoles([0.85, 0.85]) self.PlaceObserverPoles([0.02, 0.02]) self.G_high = self._drivetrain.G_high