| commit | 48d60c18aa8fb192e3902634d348ffdc885cfea7 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Feb 04 21:58:58 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Feb 04 22:27:31 2017 -0800 |
| tree | 50978fef33d345ec9bc6ed437d3b018d1df31f46 | |
| parent | c6d7a0f0029ed9eead8902986dccaf6b6de03329 [diff] [blame] |
Added control loops for all the subsystems. Change-Id: Ie693940734fe0b45f010bb3da0bfb0ec3ba719f5
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py index 353618b..29cb209 100755 --- a/y2017/control_loops/python/polydrivetrain.py +++ b/y2017/control_loops/python/polydrivetrain.py
@@ -129,7 +129,7 @@ # FF * X = U (steady state) self.FF = self.B.I * (numpy.eye(2) - self.A) - self.PlaceControllerPoles([0.67, 0.67]) + self.PlaceControllerPoles([0.85, 0.85]) self.PlaceObserverPoles([0.02, 0.02]) self.G_high = self._drivetrain.G_high