commit 110431898424b29bc7f93cc073bff4b9c62008ad
author Austin Schuh <austin.linux@gmail.com> Sat Mar 23 22:29:12 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 24 14:43:17 2019 -0700
tree b68a013d0ab4615d67c46776aca3bbdd932430d2
parent 6bcc2305184706f2644992385342220ebf35becc

Switch trajectory_plot to 2019 drive base.

Change-Id: I1135647bfb82c52f978cf6d374bec88a9504e45e

frc971/control_loops/drivetrain/splinedrivetrain.h

diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.h b/frc971/control_loops/drivetrain/splinedrivetrain.h
index c165693..3e47f5a 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.h
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.h
@@ -104,9 +104,9 @@
   // TODO(alex): pull this out of dt_config.
   const ::Eigen::DiagonalMatrix<double, 5> Q =
       (::Eigen::DiagonalMatrix<double, 5>().diagonal()
-           << 1.0 / ::std::pow(0.05, 2),
-       1.0 / ::std::pow(0.05, 2), 1.0 / ::std::pow(0.2, 2),
-       1.0 / ::std::pow(0.5, 2), 1.0 / ::std::pow(0.5, 2))
+           << 1.0 / ::std::pow(0.07, 2),
+       1.0 / ::std::pow(0.07, 2), 1.0 / ::std::pow(0.2, 2),
+       1.0 / ::std::pow(1.5, 2), 1.0 / ::std::pow(1.5, 2))
           .finished()
           .asDiagonal();
   const ::Eigen::DiagonalMatrix<double, 2> R =