commit 3ad5ed8359234dbeafbd1522208151176ac17173
author Austin Schuh <austin.linux@gmail.com> Sat Feb 25 21:36:19 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 04 17:55:14 2017 -0800
tree 8b92838ac356fcf038b3f2984d9ef4d5d16e949e
parent e91f14ce0d3569b224c85d8ca29b6697e20241f0

Added a hybrid KF for the shooter.

Change-Id: If3ba2e6978773aef2e63c9bfeb0cc6e2dec483d5

y2015_bot3/control_loops/python/polydrivetrain.py

diff --git a/y2015_bot3/control_loops/python/polydrivetrain.py b/y2015_bot3/control_loops/python/polydrivetrain.py
index 1d2a74e..8efe374 100755
--- a/y2015_bot3/control_loops/python/polydrivetrain.py
+++ b/y2015_bot3/control_loops/python/polydrivetrain.py
@@ -112,7 +112,7 @@
     super(VelocityDrivetrainModel, self).__init__(name)
     self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
                                              right_low=right_low)
-    self.dt = 0.01
+    self.dt = 0.005
     self.A_continuous = numpy.matrix(
         [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
          [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
@@ -129,7 +129,7 @@
     # FF * X = U (steady state)
     self.FF = self.B.I * (numpy.eye(2) - self.A)
 
-    self.PlaceControllerPoles([0.6, 0.6])
+    self.PlaceControllerPoles([0.7, 0.7])
     self.PlaceObserverPoles([0.02, 0.02])
 
     self.G_high = self._drivetrain.G_high
@@ -178,7 +178,7 @@
         [[-12.0000000000],
          [-12.0000000000]])
 
-    self.dt = 0.01
+    self.dt = 0.005
 
     self.R = numpy.matrix(
         [[0.0],