commit a4dd26dac7e0fa9094526d7e06192f5a7b6c8f9d
author Austin Schuh <austin.linux@gmail.com> Fri Feb 24 19:14:39 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 25 23:33:38 2017 -0800
tree 314e33ea5e73004fe78519c4ff432308662c6ad8
parent 23cc9eddb15aaad438aade1a13cd81ca56dee6f7

Tuned indexer stall detection and controller.

Change-Id: I93332461253457730b3051c3e96735b314f1405d

y2017/control_loops/python/indexer.py

diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index 6b1d59a..1818d62 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -76,7 +76,7 @@
     self.A, self.B = self.ContinuousToDiscrete(
         self.A_continuous, self.B_continuous, self.dt)
 
-    self.PlaceControllerPoles([.80])
+    self.PlaceControllerPoles([.75])
     glog.debug('K: %s', repr(self.K))
 
     glog.debug('Poles are %s',
@@ -154,7 +154,7 @@
 
     q_pos = 0.01
     q_vel = 2.0
-    q_voltage = 0.4
+    q_voltage = 0.6
     if voltage_error_noise is not None:
       q_voltage = voltage_error_noise