got the lower claw to flop less than it did before
diff --git a/frc971/control_loops/claw/claw_motor_plant.cc b/frc971/control_loops/claw/claw_motor_plant.cc
index 106491d..8da2415 100644
--- a/frc971/control_loops/claw/claw_motor_plant.cc
+++ b/frc971/control_loops/claw/claw_motor_plant.cc
@@ -9,9 +9,9 @@
StateFeedbackPlantCoefficients<4, 2, 2> MakeClawPlantCoefficients() {
Eigen::Matrix<double, 4, 4> A;
- A << 1.0, 0.0, 0.00737284608086, 0.0, 0.0, 1.0, -0.00294667339472, 0.00442617268614, 0.0, 0.0, 0.525184383468, 0.0, 0.0, 0.0, -0.380328742836, 0.144855640632;
+ A << 1.0, 0.0, 0.00737284608086, 0.0, 0.0, 1.0, -0.00145272885484, 0.00592011722602, 0.0, 0.0, 0.525184383468, 0.0, 0.0, 0.0, -0.211450629042, 0.313733754426;
Eigen::Matrix<double, 4, 2> B;
- B << 0.00102145540588, 0.0, -0.00102145540588, 0.00216714216844, 0.184611558069, 0.0, -0.184611558069, 0.332485973629;
+ B << 0.00102145540588, 0.0, -0.00102145540588, 0.00158628631709, 0.184611558069, 0.0, -0.184611558069, 0.26682500835;
Eigen::Matrix<double, 2, 4> C;
C << 1, 0, 0, 0, 1, 1, 0, 0;
Eigen::Matrix<double, 2, 2> D;
@@ -25,9 +25,9 @@
StateFeedbackController<4, 2, 2> MakeClawController() {
Eigen::Matrix<double, 4, 2> L;
- L << 1.48518438347, 2.30607329869e-16, -1.48518438347, 1.10485564063, 34.6171964667, 5.33831435952e-15, -34.6171964667, 3.52560374486;
+ L << 1.48518438347, -2.35513868803e-16, -1.48518438347, 1.27373375443, 34.6171964667, -5.41681898246e-15, -34.6171964667, 14.5766570483;
Eigen::Matrix<double, 2, 4> K;
- K << 104.272994613, 0.0, 1.72618753001, 0.0, 49.1477742369, 129.930293084, -0.546087759204, 0.551235956004;
+ K << 104.272994613, 0.0, 1.72618753001, 0.0, 67.1443817466, 107.935909674, 0.195736876688, 0.983852673373;
return StateFeedbackController<4, 2, 2>(L, K, MakeClawPlantCoefficients());
}
diff --git a/frc971/control_loops/claw/claw_motor_plant.h b/frc971/control_loops/claw/claw_motor_plant.h
index 80164d8..95d0fee 100644
--- a/frc971/control_loops/claw/claw_motor_plant.h
+++ b/frc971/control_loops/claw/claw_motor_plant.h
@@ -14,7 +14,7 @@
StateFeedbackLoop<4, 2, 2> MakeClawLoop();
-const double kClawMomentOfInertiaRatio = 0.333333;
+const double kClawMomentOfInertiaRatio = 0.555556;
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index ca69a2b..cb11a8b 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -21,7 +21,7 @@
self.free_current = 2.7
# Moment of inertia of the claw in kg m^2
# measured from CAD
- self.J_top = 0.3
+ self.J_top = 0.5
self.J_bottom = 0.9
# Resistance of the motor
@@ -97,7 +97,7 @@
self.A_diff_cont, self.B_diff_cont, self.dt)
self.K_bottom = controls.dplace(self.A_bottom, self.B_bottom, [.65, .45])
- self.K_diff = controls.dplace(self.A_diff, self.B_diff, [.40, .28])
+ self.K_diff = controls.dplace(self.A_diff, self.B_diff, [.60, .28])
print "K_diff", self.K_diff
print "K_bottom", self.K_bottom
@@ -418,7 +418,7 @@
return numpy.matrix([[new_bottom_u - old_bottom_u], [new_top_u]])
-def run_test(claw, initial_X, goal, max_separation_error=0.01, show_graph=True, iterations=200):
+def run_test(claw, initial_X, goal, max_separation_error=0.01, show_graph=False, iterations=200):
"""Runs the claw plant on a given claw (claw) with an initial condition (initial_X) and goal (goal).
The tests themselves are not terribly sophisticated; I just test for