commit 1aa5ee906da594d517b4ad19884ff8f1ca743b12
author Austin Schuh <austin.linux@gmail.com> Sun Feb 28 21:57:45 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 28 22:03:31 2016 -0800
tree 8ef49d8d1760fae5eb8d11b81dcd86e3c3b07de6
parent 126924c19dcd3842bee30a82be11ceaa5acf4ee6

Tuned arm some more, still needs lots of work.

Change-Id: I8d9b2abb1a80783029a9811a0b953b8115d36a2e

y2016/control_loops/python/arm.py

diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index ae14b04..9e12b6b 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -156,10 +156,10 @@
 
     q_pos_shoulder = 0.08
     q_vel_shoulder = 4.00
-    q_voltage_shoulder = 6.0
+    q_voltage_shoulder = 3.0
     q_pos_shooter = 0.08
     q_vel_shooter = 4.00
-    q_voltage_shooter = 6.0
+    q_voltage_shooter = 1.0
     self.Q = numpy.matrix(numpy.zeros((6, 6)))
     self.Q[0, 0] = q_pos_shoulder ** 2.0
     self.Q[1, 1] = q_vel_shoulder ** 2.0
@@ -302,7 +302,7 @@
         #observer.X_hat[0, 0] += 0.20
         #arm.X[0, 0] += 0.20
         pass
-      U_error = numpy.matrix([[0.0], [0.0]])
+      U_error = numpy.matrix([[2.0], [2.0]])
       # Kick it and see what happens.
       #if (initial_t + i * arm.dt) % 0.4 > 0.2:
         #U_error = numpy.matrix([[4.0], [0.0]])