commit 0f637389766b9635361ba9bbee58588d7f3c06f4
author Brian Silverman <brians> Sun Mar 03 17:44:46 2013 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Mar 05 21:38:13 2013 -0800
tree 9cd7babd10135fa19551edfa2be77c0206bb4972
parent a40624bd34b1ba8f982833c81e3ef44236ed5fa3

made the wrist stiffer

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 6704526..c5316e7 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -83,13 +83,15 @@
     ans = ["  Eigen::Matrix<double, %d, %d> %s;\n" % (
         matrix.shape[0], matrix.shape[1], matrix_name)]
     first = True
-    for element in numpy.nditer(matrix, order='C'):
-      if first:
-        ans.append("  %s << " % matrix_name)
-        first = False
-      else:
-        ans.append(", ")
-      ans.append(str(element))
+    for x in xrange(matrix.shape[0]):
+      for y in xrange(matrix.shape[1]):
+	element = matrix[x, y]
+        if first:
+          ans.append("  %s << " % matrix_name)
+          first = False
+        else:
+          ans.append(", ")
+        ans.append(str(element))
 
     ans.append(";\n")
     return "".join(ans)

frc971/control_loops/python/wrist.py

diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index 498a485..6fc9c27 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -19,7 +19,7 @@
     # Moment of inertia of the wrist in kg m^2
     # TODO(aschuh): Measure this in reality.  It doesn't seem high enough.
     # James measured 0.51, but that can't be right given what I am seeing.
-    self.J = 1.51
+    self.J = 2.0
     # Resistance of the motor
     self.R = 12.0 / self.stall_current + 0.024 + .003
     # Motor velocity constant
@@ -45,7 +45,7 @@
     self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.84, .84])
+    self.PlaceControllerPoles([.72, .72])
 
     print self.K
 

frc971/control_loops/wrist/wrist_motor_plant.cc

diff --git a/frc971/control_loops/wrist/wrist_motor_plant.cc b/frc971/control_loops/wrist/wrist_motor_plant.cc
index 3998cae..79d62db 100644
--- a/frc971/control_loops/wrist/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -8,9 +8,9 @@
 
 StateFeedbackPlant<2, 1, 1> MakeWristPlant() {
   Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00876530955899, 0.0, 0.763669024671;
+  A << 1.0, 0.00904786878843, 0.0, 0.815818233346;
   Eigen::Matrix<double, 2, 1> B;
-  B << 0.000423500644841, 0.0810618735867;
+  B << 0.000326582411818, 0.0631746179893;
   Eigen::Matrix<double, 1, 2> C;
   C << 1, 0;
   Eigen::Matrix<double, 1, 1> D;
@@ -24,9 +24,9 @@
 
 StateFeedbackLoop<2, 1, 1> MakeWristLoop() {
   Eigen::Matrix<double, 2, 1> L;
-  L << 1.66366902467, 58.1140316091;
+  L << 1.71581823335, 64.8264890043;
   Eigen::Matrix<double, 1, 2> K;
-  K << 31.5808145893, 0.867171288023;
+  K << 124.10047341, 5.30734038612;
   return StateFeedbackLoop<2, 1, 1>(L, K, MakeWristPlant());
 }