| commit | 9f9adb61cf45559eb18d4803a9d8e56d4e9860c7 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Mar 05 01:01:37 2017 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Mar 11 21:10:05 2017 -0800 |
| tree | 9b793b5f9c8c94a50a8a56cc327f2417de8b596d | |
| parent | d93160a182c96b8a0f79abf9574aa25604b1df37 [diff] [blame] |
Initial tuning on the DT and Shooter Change-Id: I68fc6d3055c3568b24248f022911ce0113728793
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py index df1f18f..f20ec2f 100755 --- a/y2017/control_loops/python/polydrivetrain.py +++ b/y2017/control_loops/python/polydrivetrain.py
@@ -129,7 +129,7 @@ # FF * X = U (steady state) self.FF = self.B.I * (numpy.eye(2) - self.A) - self.PlaceControllerPoles([0.85, 0.85]) + self.PlaceControllerPoles([0.90, 0.90]) self.PlaceObserverPoles([0.02, 0.02]) self.G_high = self._drivetrain.G_high