| commit | 87c10635ffa79c1fea12f7a7a8f3b7883c450ad3 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Feb 05 19:02:17 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Feb 12 14:29:41 2017 -0800 |
| tree | 869eb14568c4d6b3d57f5932d63a7fccc2c2789a | |
| parent | 5d571d04a19bb646528c26a878adafdf50d0a407 [diff] |
Initial hood implementation. - Zeroing works, control loop converges. Change-Id: Icf28f17f7623dbe565379ae14c56e699c2631a8e
diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py index 6ab8072..20c2496 100755 --- a/y2017/control_loops/python/hood.py +++ b/y2017/control_loops/python/hood.py
@@ -93,8 +93,8 @@ glog.debug(repr(self.A_continuous)) # Calculate the LQR controller gain - q_pos = 2.0 - q_vel = 500.0 + q_pos = 0.05 + q_vel = 10.0 self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0], [0.0, (1.0 / (q_vel ** 2.0))]])