Pulled U out of the plant.
Change-Id: I4410b74a4b03e1a6e3a142eb8d9762bb9803763f
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index bb34b85..fba883c 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -71,8 +71,8 @@
typename, num_states, num_inputs, num_outputs)
def _ControllerType(self):
- """Returns a template name for StateFeedbackController."""
- return self._GenericType('StateFeedbackController')
+ """Returns a template name for StateFeedbackControllerConstants."""
+ return self._GenericType('StateFeedbackControllerConstants')
def _LoopType(self):
"""Returns a template name for StateFeedbackLoop."""
@@ -307,7 +307,7 @@
num_states = self.A.shape[0]
num_inputs = self.B.shape[1]
num_outputs = self.C.shape[0]
- return 'StateFeedbackController<%d, %d, %d> %s;\n' % (
+ return 'StateFeedbackControllerConstants<%d, %d, %d> %s;\n' % (
num_states, num_inputs, num_outputs, self.ControllerFunction())
def DumpController(self):
@@ -319,7 +319,7 @@
num_states = self.A.shape[0]
num_inputs = self.B.shape[1]
num_outputs = self.C.shape[0]
- ans = ['StateFeedbackController<%d, %d, %d> %s {\n' % (
+ ans = ['StateFeedbackControllerConstants<%d, %d, %d> %s {\n' % (
num_states, num_inputs, num_outputs, self.ControllerFunction())]
ans.append(self._DumpMatrix('L', self.L))
@@ -330,7 +330,7 @@
ans.append(self._DumpMatrix('Kff', self.Kff))
ans.append(self._DumpMatrix('A_inv', numpy.linalg.inv(self.A)))
- ans.append(' return StateFeedbackController<%d, %d, %d>'
+ ans.append(' return StateFeedbackControllerConstants<%d, %d, %d>'
'(L, K, Kff, A_inv, Make%sPlantCoefficients());\n' % (
num_states, num_inputs, num_outputs, self._name))
ans.append('}\n')