Initial tuning of the control loops.
These were tuned by looking at the plots and looking at how aggressive
the controller is.
Change-Id: I68d7b396ccdcc79640bbffaea8102414720fe164
diff --git a/y2020/control_loops/python/accelerator.py b/y2020/control_loops/python/accelerator.py
index e5b26fb..64ae12e 100644
--- a/y2020/control_loops/python/accelerator.py
+++ b/y2020/control_loops/python/accelerator.py
@@ -31,14 +31,14 @@
J=J,
q_pos=0.08,
q_vel=4.00,
- q_voltage=0.3,
+ q_voltage=0.4,
r_pos=0.05,
- controller_poles=[.87])
+ controller_poles=[.80])
def main(argv):
if FLAGS.plot:
- R = numpy.matrix([[0.0], [100.0], [0.0]])
+ R = numpy.matrix([[0.0], [500.0], [0.0]])
flywheel.PlotSpinup(kAccelerator, goal=R, iterations=200)
return 0