| commit | 0520cbfdb790f4a9061435e87e951cebdd9dc945 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Wed Jan 06 19:58:36 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Jan 06 19:58:36 2016 -0800 |
| tree | a4948bc2c50bf18207a1ce9a0902ead1517d97cf | |
| parent | 6613a07089cb94a85621a960c571f4f4315c7d40 [diff] [blame] |
Enabled closed loop polydrive. Change-Id: I6587801d3b5b06006ba826617560aef0ee96069b
diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py index 19fdb5e..93f3884 100755 --- a/y2014/control_loops/python/polydrivetrain.py +++ b/y2014/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([0.8, 0.8]) + self.PlaceControllerPoles([0.7, 0.7]) self.PlaceObserverPoles([0.02, 0.02]) self.G_high = self._drivetrain.G_high