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/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