commit 07b4044f16ea2ee94a655a9dfa6fda6eac12c0fd
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 22:20:21 2020 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 23:12:19 2020 -0700
tree 5afbf5566d4ec474492fb65d6a9164927fd1c780
parent a573df154b900b6618d0b46f8d2635a8dba1082f

Detune spline drivetrain

This helps with oscillations substantially.

Change-Id: Icc279a24d0460ad0006ccc19259338c0e48e0b48

frc971/control_loops/drivetrain/splinedrivetrain.h

diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index 051e71a..1ce0e31 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -135,6 +135,7 @@
 
   // TODO(alex): pull this out of dt_config.
   const ::Eigen::DiagonalMatrix<double, 5> Q =
+      0.2 *
       (::Eigen::DiagonalMatrix<double, 5>().diagonal()
            << 1.0 / ::std::pow(0.12, 2),
        1.0 / ::std::pow(0.12, 2), 1.0 / ::std::pow(0.1, 2),