commit 16c966493ae7213506eb8dfd0bb231ef390b31e4
author Austin Schuh <austin.linux@gmail.com> Thu Mar 14 09:04:55 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Thu Mar 14 09:04:55 2013 -0700
tree a0d79515fff29e0e6bf81388415efad03155f665
parent d3d0fbf74813ab9d9c9c7adc9501666d0d6edf32

Overdamped the wrist significantly.

frc971/control_loops/python/wrist.py

diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index 20f9c40..f26b99a 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -45,7 +45,7 @@
     self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.72, .72])
+    self.PlaceControllerPoles([.86, .46])
 
     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 4a2b0ad..408fd85 100644
--- a/frc971/control_loops/wrist/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -27,7 +27,7 @@
   Eigen::Matrix<double, 2, 1> L;
   L << 1.71581823335, 64.8264890043;
   Eigen::Matrix<double, 1, 2> K;
-  K << 124.10047341, 5.30734038612;
+  K << 119.668313646, 7.2297495639;
   return StateFeedbackController<2, 1, 1>(L, K, MakeWristPlantCoefficients());
 }