| commit | 989a313d68bf94fe66146163c069d040fbd95990 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Thu Feb 20 18:20:06 2020 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Thu Feb 20 20:08:48 2020 -0800 |
| tree | db5ae8f29248da4d1f16a40c0ab8f832c99dd99d | |
| parent | c1c957aca2bdb353493a35001819b5dd87df0db7 [diff] [blame] |
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/finisher.py b/y2020/control_loops/python/finisher.py index b789279..0d46bb9 100644 --- a/y2020/control_loops/python/finisher.py +++ b/y2020/control_loops/python/finisher.py
@@ -31,9 +31,9 @@ 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):