Switched to 5ms cycles on the control loops.
Change-Id: I1aae3b30a9c422f1920ccb1c15e035ae847f85a9
diff --git a/y2014/control_loops/python/claw.py b/y2014/control_loops/python/claw.py
index 6808ce6..91f48de 100755
--- a/y2014/control_loops/python/claw.py
+++ b/y2014/control_loops/python/claw.py
@@ -33,7 +33,7 @@
# Gear ratio
self.G = 14.0 / 48.0 * 18.0 / 32.0 * 18.0 / 66.0 * 12.0 / 60.0
# Control loop time step
- self.dt = 0.01
+ self.dt = 0.005
# State is [bottom position, bottom velocity, top - bottom position,
# top - bottom velocity]
@@ -95,8 +95,10 @@
self.A_diff, self.B_diff = controls.c2d(
self.A_diff_cont, self.B_diff_cont, self.dt)
- self.K_bottom = controls.dplace(self.A_bottom, self.B_bottom, [.75 + 0.1j, .75 - 0.1j])
- self.K_diff = controls.dplace(self.A_diff, self.B_diff, [.75 + 0.1j, .75 - 0.1j])
+ self.K_bottom = controls.dplace(self.A_bottom, self.B_bottom,
+ [0.87 + 0.05j, 0.87 - 0.05j])
+ self.K_diff = controls.dplace(self.A_diff, self.B_diff,
+ [0.85 + 0.05j, 0.85 - 0.05j])
print "K_diff", self.K_diff
print "K_bottom", self.K_bottom
@@ -144,8 +146,8 @@
print "eigenvalues"
print numpy.linalg.eig(F)[0]
- self.rpl = .05
- self.ipl = 0.010
+ self.rpl = .09
+ self.ipl = 0.030
self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
self.rpl + 1j * self.ipl,
self.rpl - 1j * self.ipl,