commit 7fb8e229ffb15eaea7cca0636e3b0d9007ce81c3
author Brian Silverman <brians> Sat Mar 16 20:09:58 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:10 2013 -0700
tree 4fe44e1b4790b82babcb7c41bee3e91dd0bbf61b
parent 6f39bbb61ed14ed2939a28b7baf744670a8acdd0

tuned the new wrist constants

frc971/control_loops/python/wrist.py

diff --git a/frc971/control_loops/python/wrist.py b/frc971/control_loops/python/wrist.py
index f21ed03..ddcdf06 100755
--- a/frc971/control_loops/python/wrist.py
+++ b/frc971/control_loops/python/wrist.py
@@ -77,7 +77,7 @@
     self.C = numpy.matrix([[1.0, 0.0, 0.0]])
     self.D = numpy.matrix([[0.0]])
 
-    self.PlaceControllerPoles([0.60, 0.37, 0.80])
+    self.PlaceControllerPoles([0.55, 0.35, 0.80])
 
     print "K"
     print self.K
@@ -87,7 +87,7 @@
     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]
 

frc971/control_loops/wrist/wrist_motor_plant.cc

diff --git a/frc971/control_loops/wrist/wrist_motor_plant.cc b/frc971/control_loops/wrist/wrist_motor_plant.cc
index 49a7d6d..6a81431 100644
--- a/frc971/control_loops/wrist/wrist_motor_plant.cc
+++ b/frc971/control_loops/wrist/wrist_motor_plant.cc
@@ -25,9 +25,9 @@
 
 StateFeedbackController<3, 1, 1> MakeWristController() {
   Eigen::Matrix<double, 3, 1> L;
-  L << 2.56581823335, 182.185686601, 1214.37916748;
+  L << 1.86581823335, 85.5369356389, 214.302206027;
   Eigen::Matrix<double, 1, 3> K;
-  K << 79.7788757639, 3.78830897822, 1.04581823335;
+  K << 92.6004807973, 4.38063492858, 1.11581823335;
   return StateFeedbackController<3, 1, 1>(L, K, MakeWristPlantCoefficients());
 }