commit 73c298d959e2cea462bb1d8c5896ab5c6f6da1ea
author Brian Silverman <brians> Mon Mar 30 10:30:12 2015 -0400
committer Brian Silverman <brians> Mon Mar 30 10:30:12 2015 -0400
tree 7c6f620254312a951c98ce64ae5e5a625c99b739
parent d995ca60c1e2655af809ac0beddb5ebc31ea8768

tune the claw

Change-Id: I36166befc86cb3460a0d82a6d0455456b1cff39a

frc971/control_loops/claw/claw_motor_plant.cc

diff --git a/frc971/control_loops/claw/claw_motor_plant.cc b/frc971/control_loops/claw/claw_motor_plant.cc
index 213a92c..b95bf12 100644
--- a/frc971/control_loops/claw/claw_motor_plant.cc
+++ b/frc971/control_loops/claw/claw_motor_plant.cc
@@ -25,7 +25,7 @@
 
 StateFeedbackController<2, 1, 1> MakeClawController() {
   Eigen::Matrix<double, 2, 1> L;
-  L << 0.165471565307, 0.0290418032388;
+  L << 0.998251427366, 26.9874526231;
   Eigen::Matrix<double, 1, 2> K;
   K << 74.4310031124, 4.72251126222;
   Eigen::Matrix<double, 2, 2> A_inv;

frc971/control_loops/python/claw.py

diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index fd123a3..4ca50e9 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -86,12 +86,12 @@
 
     print 'L is', self.L
 
-    q_pos = 0.018
-    q_vel = 0.05
+    q_pos = 0.05
+    q_vel = 2.65
     self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0],
                            [0.0, (q_vel ** 2.0)]])
 
-    r_volts = 0.1
+    r_volts = 0.025
     self.R = numpy.matrix([[(r_volts ** 2.0)]])
 
     self.KalmanGain, self.Q_steady = controls.kalman(