commit 696b56ec0dc33bdb44ca3e3eda8129f1a0165e2a
author Brian Silverman <brians> Thu Apr 04 19:52:02 2013 -0700
committer Brian Silverman <brians> Thu Apr 04 19:52:02 2013 -0700
tree 5584881690c7477a1c4e42016b5374fb7fdbfd60
parent 11365a03feb15d3ae261619af7bf24652de9cdfb

made the angle adjust twitch less

frc971/control_loops/python/angle_adjust.py

diff --git a/frc971/control_loops/python/angle_adjust.py b/frc971/control_loops/python/angle_adjust.py
index 6d84c0c..36cb49d 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -78,7 +78,7 @@
     self.C = numpy.matrix([[1.0, 0.0, 0.0]])
     self.D = numpy.matrix([[0.0]])
 
-    self.PlaceControllerPoles([0.60, 0.35, 0.80])
+    self.PlaceControllerPoles([0.60, 0.31, 0.78])
 
     print "K"
     print self.K
@@ -88,7 +88,7 @@
     self.rpl = .05
     self.ipl = 0.008
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
-                             self.rpl - 1j * self.ipl, 0.85])
+                             self.rpl - 1j * self.ipl, 0.78])
     print "Placed observer poles are"
     print numpy.linalg.eig(self.A - self.L * self.C)[0]