commit 2fc178f1891f84b19a93a75093d25fceb66d0baf
author Austin Schuh <austin.linux@gmail.com> Sun Apr 24 19:09:26 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri May 13 20:24:51 2016 -0700
tree c1a99765ec5955ff44fdea4f56b870bfdff8ca3a
parent fef64ac18017d0247844191990d2dda82269b43b

Re-tuned superstructure controls

The loop tuning was causing the shooter to rotate up at times.
Retuning the shooter fixed this.

Change-Id: I67d8eade6650aa55557c631e0fa7a61fa345ca37

y2016/control_loops/python/arm.py

diff --git a/y2016/control_loops/python/arm.py b/y2016/control_loops/python/arm.py
index 4d5bbb9..8908038 100755
--- a/y2016/control_loops/python/arm.py
+++ b/y2016/control_loops/python/arm.py
@@ -379,8 +379,8 @@
 
   scenario_plotter = ScenarioPlotter()
 
-  J_accelerating = 15
-  J_decelerating = 5
+  J_accelerating = 18
+  J_decelerating = 7
 
   arm = Arm(name='AcceleratingArm', J=J_accelerating)
   arm_integral_controller = IntegralArm(

y2016/control_loops/python/shoulder.py

diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 6beac61..6c07725 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -71,7 +71,7 @@
     controllability = controls.ctrb(self.A, self.B)
 
     q_pos = 0.16
-    q_vel = 1.5
+    q_vel = 0.95
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])
 

y2016/control_loops/python/wrist.py

diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py
index 660e577..f08f1a2 100755
--- a/y2016/control_loops/python/wrist.py
+++ b/y2016/control_loops/python/wrist.py
@@ -39,7 +39,7 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    self.J = 0.20
+    self.J = 0.35
 
     # Control loop time step
     self.dt = 0.005