commit 6f39bbb61ed14ed2939a28b7baf744670a8acdd0
author Brian Silverman <brians> Sat Mar 16 20:09:30 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:09 2013 -0700
tree 921023947227b99b0afda6046355394430a51b66
parent 77a760011cdd27fd56268eead9bb9dfbf6437696

angle adjust constant tuning. UNTESTED

frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc

diff --git a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
index 185030f..acc0035 100644
--- a/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
+++ b/frc971/control_loops/angle_adjust/angle_adjust_motor_plant.cc
@@ -25,7 +25,7 @@
 
 StateFeedbackController<3, 1, 1> MakeAngleAdjustController() {
   Eigen::Matrix<double, 3, 1> L;
-  L << 2.45656297069, 164.64938515, 2172.97100986;
+  L << 1.75656297069, 71.0838905921, 383.465472329;
   Eigen::Matrix<double, 1, 3> K;
   K << 147.285618609, 4.58304321916, 0.956562970689;
   return StateFeedbackController<3, 1, 1>(L, K, MakeAngleAdjustPlantCoefficients());

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 3c87e86..8ccf30f 100755
--- a/frc971/control_loops/python/angle_adjust.py
+++ b/frc971/control_loops/python/angle_adjust.py
@@ -88,7 +88,7 @@
     self.rpl = .05
     self.ipl = 0.008
     self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
-                             self.rpl - 1j * self.ipl, 0.15])
+                             self.rpl - 1j * self.ipl, 0.85])
     print "Placed observer poles are"
     print numpy.linalg.eig(self.A - self.L * self.C)[0]