Tune the flywheel and accelerator
Change-Id: I04530b7b5e0565f4dfe6d2978d1beb259f1fb0af
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index bb50d9d..bb6871c 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -21,19 +21,19 @@
G = (30.0 / 40.0) * numpy.power(G_per_wheel, 3.0)
# Overall flywheel inertia.
J = J_wheel * (
- 1.0 + numpy.power(G, -2.0) + numpy.power(G, -4.0) + numpy.power(G, -6.0))
+ 1.0 + numpy.power(G_per_wheel, -2.0) + numpy.power(G_per_wheel, -4.0) + numpy.power(G_per_wheel, -6.0))
# The position and velocity are measured for the final wheel.
kAccelerator = flywheel.FlywheelParams(
name='Accelerator',
motor=control_loop.Falcon(),
G=G,
- J=J + 0.0015,
+ J=J * 1.3,
q_pos=0.01,
q_vel=40.0,
- q_voltage=2.0,
- r_pos=0.05,
- controller_poles=[.86])
+ q_voltage=1.0,
+ r_pos=0.03,
+ controller_poles=[.89])
def main(argv):