commit 3ac190a1abc4ac70b7d783ede49327d86da221ed
author James Kuszmaul <james@hp-debian> Wed Mar 26 20:11:04 2014 -0700
committer James Kuszmaul <james@hp-debian> Wed Mar 26 20:11:04 2014 -0700
tree 06f2f2f3ebd364575101931d8b60ca65ba2077ff
parent f63b0aea3290b2d0c21005257c21b1f433d0c259
parent a379f003582e0a74197a657de0fd1c67eb530359

Merged in the stuff most recently on the robot.

frc971/control_loops/python/claw.py

diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index aacf31e..ca69a2b 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -23,6 +23,7 @@
     # measured from CAD
     self.J_top = 0.3
     self.J_bottom = 0.9
+
     # Resistance of the motor
     self.R = 12.0 / self.stall_current
     # Motor velocity constant
@@ -144,8 +145,8 @@
     print "eigenvalues"
     print numpy.linalg.eig(F)[0]
 
-    self.rpl = .05
-    self.ipl = 0.008
+    self.rpl = .02
+    self.ipl = 0.004
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
                              self.rpl + 1j * self.ipl,
                              self.rpl - 1j * self.ipl,