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]