commit adf2cde48445f7947b98c1995ec44ec2ac39a1e9
author Austin Schuh <austin@peloton-tech.com> Sun Nov 08 20:35:16 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Nov 08 21:24:25 2015 -0800
tree 0875ab31dd44209fb3a0e9bbe6c02d26f11cbeb4
parent 0e997732d025d9b2d471b8e3989122bd62020199

Switched to 5ms cycles on the control loops.

Change-Id: I1aae3b30a9c422f1920ccb1c15e035ae847f85a9

y2014/control_loops/python/polydrivetrain.py

diff --git a/y2014/control_loops/python/polydrivetrain.py b/y2014/control_loops/python/polydrivetrain.py
index 3dafd21..fcf4b5b 100755
--- a/y2014/control_loops/python/polydrivetrain.py
+++ b/y2014/control_loops/python/polydrivetrain.py
@@ -102,7 +102,7 @@
     super(VelocityDrivetrainModel, self).__init__(name)
     self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
                                              right_low=right_low)
-    self.dt = 0.01
+    self.dt = 0.005
     self.A_continuous = numpy.matrix(
         [[self._drivetrain.A_continuous[1, 1], self._drivetrain.A_continuous[1, 3]],
          [self._drivetrain.A_continuous[3, 1], self._drivetrain.A_continuous[3, 3]]])
@@ -119,7 +119,7 @@
     # FF * X = U (steady state)
     self.FF = self.B.I * (numpy.eye(2) - self.A)
 
-    self.PlaceControllerPoles([0.6, 0.6])
+    self.PlaceControllerPoles([0.8, 0.8])
     self.PlaceObserverPoles([0.02, 0.02])
 
     self.G_high = self._drivetrain.G_high
@@ -168,7 +168,7 @@
         [[-12.0000000000],
          [-12.0000000000]])
 
-    self.dt = 0.01
+    self.dt = 0.005
 
     self.R = numpy.matrix(
         [[0.0],