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/turret.py b/y2020/control_loops/python/turret.py
index dd2244d..e276457 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -23,14 +23,19 @@
motor=control_loop.Vex775Pro(),
G=(6.0 / 60.0) * (26.0 / 150.0),
J=0.11,
- q_pos=0.20,
- q_vel=5.0,
+ q_pos=0.40,
+ q_vel=7.0,
kalman_q_pos=0.12,
kalman_q_vel=2.0,
- kalman_q_voltage=4.0,
+ kalman_q_voltage=3.0,
kalman_r_position=0.05)
def main(argv):
+ if FLAGS.plot:
+ R = numpy.matrix([[numpy.pi], [0.0]])
+ angular_system.PlotKick(kTurret, R)
+ angular_system.PlotMotion(kTurret, R)
+
# Write the generated constants out to a file.
if len(argv) != 5:
glog.fatal(