Designed a shooter loop using voltage error estimation.
This gets rid of all the corner cases with the moving position style
loop from before, and doesn't have overshoot issues like standard
integral loops have.
Change-Id: I4e4eb1767038563cf851040ce8218e73ca60904a
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py
index 2ad1d07..4d4f5f1 100755
--- a/y2016/control_loops/python/wrist.py
+++ b/y2016/control_loops/python/wrist.py
@@ -238,8 +238,6 @@
def main(argv):
- argv = FLAGS(argv)
-
scenario_plotter = ScenarioPlotter()
wrist = Wrist()
@@ -260,7 +258,7 @@
glog.fatal('Expected .h file name and .cc file name for the wrist and integral wrist.')
else:
namespaces = ['y2016', 'control_loops', 'superstructure']
- wrist = Wrist("Wrist")
+ wrist = Wrist('Wrist')
loop_writer = control_loop.ControlLoopWriter(
'Wrist', [wrist], namespaces=namespaces)
loop_writer.Write(argv[1], argv[2])
@@ -271,4 +269,5 @@
integral_loop_writer.Write(argv[3], argv[4])
if __name__ == '__main__':
- sys.exit(main(sys.argv))
+ argv = FLAGS(sys.argv)
+ sys.exit(main(argv))