Austin update the closed dt loop to keep valid estimates of velocity. we then use these in shoot action to set an offset in claw angle for shooting at velocity.
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 001fd1e..8b1d9ad 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -89,6 +89,8 @@
self.Gr = self.G_high
# Control loop time step
self.dt = 0.01
+
+ print "THE NUMBER I WANT" + str((self.free_speed / 60.0 * 2.0 * numpy.pi) * self.G_high * self.r)
# These describe the way that a given side of a robot will be influenced
# by the other side. Units of 1 / kg.
@@ -118,6 +120,7 @@
self.D = numpy.matrix([[0, 0],
[0, 0]])
+ #print "THE NUMBER I WANT" + str(numpy.linalg.inv(self.A_continuous) * -self.B_continuous * numpy.matrix([[12.0], [12.0]]))
self.A, self.B = self.ContinuousToDiscrete(
self.A_continuous, self.B_continuous, self.dt)