commit 23a67cacea67ea1fd2356e7b37d8b5d22d5891db
author Brian Silverman <brians> Sat Mar 16 23:48:50 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:10 2013 -0700
tree 94495b02112615ab8b8f88c6dcceeec586fc9e39
parent df43ec2b6c9a6b1783e99329ab57f594144d7986

slowed down the wrist observer a bit

frc971/control_loops/python/wrist.py

diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index ddcdf06..d752000 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -87,7 +87,7 @@
     self.rpl = .05
     self.ipl = 0.008
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
-                             self.rpl - 1j * self.ipl, 0.85])
+                             self.rpl - 1j * self.ipl, 0.90])
     print "Placed observer poles are"
     print numpy.linalg.eig(self.A - self.L * self.C)[0]
 

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 6a81431..64146d8 100644
--- a/frc971/control_loops/wrist/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -25,7 +25,7 @@
 
 StateFeedbackController<3, 1, 1> MakeWristController() {
   Eigen::Matrix<double, 3, 1> L;
-  L << 1.86581823335, 85.5369356389, 214.302206027;
+  L << 1.81581823335, 78.6334534274, 142.868137351;
   Eigen::Matrix<double, 1, 3> K;
   K << 92.6004807973, 4.38063492858, 1.11581823335;
   return StateFeedbackController<3, 1, 1>(L, K, MakeWristPlantCoefficients());