commit 63d095db1e027f9929203a2684b80365e32d0391
author Austin Schuh <austin.linux@gmail.com> Sat Feb 23 11:57:12 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 23 11:59:13 2019 -0800
tree 13ef81ac4e589a2464675dde6e2281dde7310b5b
parent a569ac8e0bd4cd6772a5fc06515da416c7f22a3c

Switch default dt to 5.05 ms

All new loops should be on the 5.05 ms cycle, so let's flip the default
and move old robots to explicitly specify 5 ms.

Change-Id: I2495baaf2beebb0315b068efad4e68e7eed73898

frc971/control_loops/python/angular_system.py

diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 2228231..a0a07d6 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -21,7 +21,7 @@
                  kalman_q_vel,
                  kalman_q_voltage,
                  kalman_r_position,
-                 dt=0.005):
+                 dt=0.00505):
         self.name = name
         self.motor = motor
         self.G = G

frc971/control_loops/python/linear_system.py

diff --git a/frc971/control_loops/python/linear_system.py b/frc971/control_loops/python/linear_system.py
index 042bd5c..fe8dd85 100755
--- a/frc971/control_loops/python/linear_system.py
+++ b/frc971/control_loops/python/linear_system.py
@@ -22,7 +22,7 @@
                  kalman_q_vel,
                  kalman_q_voltage,
                  kalman_r_position,
-                 dt=0.005):
+                 dt=0.00505):
         self.name = name
         self.motor = motor
         self.G = G

y2016/control_loops/python/intake.py

diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index ceb4170..6d0509d 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -25,6 +25,7 @@
     J=0.34 - 0.03757568,
     q_pos=0.20,
     q_vel=5.0,
+    dt=0.005,
     kalman_q_pos=0.12,
     kalman_q_vel=2.0,
     kalman_q_voltage=4.0,

y2019/control_loops/python/elevator.py

diff --git a/y2019/control_loops/python/elevator.py b/y2019/control_loops/python/elevator.py
index 480ed50..5859814 100755
--- a/y2019/control_loops/python/elevator.py
+++ b/y2019/control_loops/python/elevator.py
@@ -29,8 +29,7 @@
     kalman_q_pos=0.12,
     kalman_q_vel=2.00,
     kalman_q_voltage=35.0,
-    kalman_r_position=0.05,
-    dt=0.00505)
+    kalman_r_position=0.05)
 
 kElevatorModel = copy.copy(kElevator)
 kElevatorModel.mass = carriage_mass + first_stage_mass + 1.0

y2019/control_loops/python/stilts.py

diff --git a/y2019/control_loops/python/stilts.py b/y2019/control_loops/python/stilts.py
index b07321c..2c4644d 100755
--- a/y2019/control_loops/python/stilts.py
+++ b/y2019/control_loops/python/stilts.py
@@ -27,8 +27,7 @@
     kalman_q_pos=0.12,
     kalman_q_vel=2.00,
     kalman_q_voltage=35.0,
-    kalman_r_position=0.05,
-    dt=0.00505)
+    kalman_r_position=0.05)
 
 
 def main(argv):