Tune flywheels
Switch to hybrid kalman filter, plot voltage error
Change-Id: I9ade9a741aae58bdb3818c23bfe91b18786235f3
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index 1746589..48c9098 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -28,20 +28,22 @@
name='Accelerator',
motor=control_loop.Falcon(),
G=G,
- J=J,
- q_pos=0.08,
- q_vel=4.00,
- q_voltage=0.4,
+ J=J + 0.0015,
+ q_pos=0.01,
+ q_vel=40.0,
+ q_voltage=2.0,
r_pos=0.05,
- controller_poles=[.84])
+ controller_poles=[.86])
def main(argv):
if FLAGS.plot:
R = numpy.matrix([[0.0], [500.0], [0.0]])
- flywheel.PlotSpinup(kAccelerator, goal=R, iterations=200)
+ flywheel.PlotSpinup(kAccelerator, goal=R, iterations=400)
return 0
+ glog.debug("J is %f" % J)
+
if len(argv) != 5:
glog.fatal('Expected .h file name and .cc file name')
else:
@@ -53,4 +55,5 @@
if __name__ == '__main__':
argv = FLAGS(sys.argv)
+ glog.init()
sys.exit(main(argv))