| commit | 2fc178f1891f84b19a93a75093d25fceb66d0baf | [log] [tgz] |
|---|---|---|
| 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 [diff] [blame] |
Re-tuned superstructure controls The loop tuning was causing the shooter to rotate up at times. Retuning the shooter fixed this. Change-Id: I67d8eade6650aa55557c631e0fa7a61fa345ca37
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))]])