commit a32a189b8251578eeb9959b945a122079caf1076
author Austin Schuh <austin.linux@gmail.com> Tue Feb 21 14:04:07 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 22 21:19:41 2023 -0800
tree a792071c2807ed4431b3ba4e9e5a0562752e24e0
parent 7dcc49ba500764fd070e32078fc67b2a3e0979da

Tune arm loops

Slow it waaay down and add more knobs to plot the poles.

Change-Id: I488ab7b0b999b3bb032c39523ffc8193363e7003
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/control_loops/python/wrist.py

diff --git a/y2023/control_loops/python/wrist.py b/y2023/control_loops/python/wrist.py
index 26d3a16..1970c5b 100644
--- a/y2023/control_loops/python/wrist.py
+++ b/y2023/control_loops/python/wrist.py
@@ -36,8 +36,9 @@
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
-        angular_system.PlotKick(kIntake, R)
-        angular_system.PlotMotion(kIntake, R)
+        angular_system.PlotKick(kWrist, R)
+        angular_system.PlotMotion(kWrist, R)
+        return
 
     # Write the generated constants out to a file.
     if len(argv) != 5: