commit 683a0d0f85606a00454f5f1ab5b97054b5825e84
author Austin Schuh <aschuh@localhost> Sat Mar 02 01:51:31 2013 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Mar 05 21:34:45 2013 -0800
tree 4ca75eee78cf362f56f6d3bf267c7fa98e8fe52b
parent 06ee48e099a08ac07977e50e939447899f64617e

Tightened up the loop to prevent it from going in the other direction.

frc971/control_loops/python/wrist.py

diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index 441999f..498a485 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -17,7 +17,9 @@
     # Free Current in Amps
     self.free_current = 1.5
     # Moment of inertia of the wrist in kg m^2
-    self.J = 0.51
+    # TODO(aschuh): Measure this in reality.  It doesn't seem high enough.
+    # James measured 0.51, but that can't be right given what I am seeing.
+    self.J = 1.51
     # Resistance of the motor
     self.R = 12.0 / self.stall_current + 0.024 + .003
     # Motor velocity constant
@@ -43,7 +45,9 @@
     self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
                               self.dt, self.C)
 
-    self.PlaceControllerPoles([.89, .85])
+    self.PlaceControllerPoles([.84, .84])
+
+    print self.K
 
     self.rpl = .05
     self.ipl = 0.008
@@ -79,10 +83,13 @@
 
   # Write the generated constants out to a file.
   if len(argv) != 3:
-    print "Expected .cc file name and .h file name"
+    print "Expected .h file name and .cc file name"
   else:
-    wrist.DumpHeaderFile(argv[1])
-    wrist.DumpCppFile(argv[2], argv[1])
+    if argv[1][-3:] == '.cc':
+      print '.cc file is second'
+    else:
+      wrist.DumpHeaderFile(argv[1])
+      wrist.DumpCppFile(argv[2], argv[1])
 
 if __name__ == '__main__':
   sys.exit(main(sys.argv))

frc971/control_loops/wrist_motor_plant.cc

diff --git a/frc971/control_loops/wrist_motor_plant.cc b/frc971/control_loops/wrist_motor_plant.cc
index 17168a1..56e141f 100644
--- a/frc971/control_loops/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist_motor_plant.cc
@@ -8,9 +8,9 @@
 
 StateFeedbackPlant<2, 1, 1> MakeWristPlant() {
   Eigen::Matrix<double, 2, 2> A;
-  A << 1.0, 0.00688850240086, 0.0, 0.450098411557;
+  A << 1.0, 0.00876530955899, 0.0, 0.763669024671;
   Eigen::Matrix<double, 2, 1> B;
-  B << 0.00106724827203, 0.188617057012;
+  B << 0.000423500644841, 0.0810618735867;
   Eigen::Matrix<double, 1, 2> C;
   C << 1, 0;
   Eigen::Matrix<double, 1, 1> D;
@@ -24,9 +24,9 @@
 
 StateFeedbackLoop<2, 1, 1> MakeWristLoop() {
   Eigen::Matrix<double, 2, 1> L;
-  L << 1.35009841156, 23.2478308944;
+  L << 1.66366902467, 58.1140316091;
   Eigen::Matrix<double, 1, 2> K;
-  K << 8.74788328338, -1.58648298569;
+  K << 31.5808145893, 0.867171288023;
   return StateFeedbackLoop<2, 1, 1>(L, K, MakeWristPlant());
 }
 

frc971/control_loops/wrist_motor_plant.h

diff --git a/frc971/control_loops/wrist_motor_plant.h b/frc971/control_loops/wrist_motor_plant.h
index 9595b5f..c692770 100644
--- a/frc971/control_loops/wrist_motor_plant.h
+++ b/frc971/control_loops/wrist_motor_plant.h
@@ -12,4 +12,5 @@
 
 }  // namespace frc971
 }  // namespace control_loops
+
 #endif  // FRC971_CONTROL_LOOPS_WRIST_MOTOR_PLANT_H_