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/hood.py b/y2020/control_loops/python/hood.py
index fa92446..b4d8c84 100644
--- a/y2020/control_loops/python/hood.py
+++ b/y2020/control_loops/python/hood.py
@@ -33,11 +33,11 @@
motor=control_loop.BAG(),
G=radians_per_turn,
J=0.08389,
- q_pos=0.20,
- q_vel=5.0,
+ q_pos=0.55,
+ q_vel=14.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
+ kalman_q_voltage=2.5,
kalman_r_position=0.05)