commit ba23ba9e0b48ce532eda780ee9869623fa67f9fc
author Austin Schuh <austin.linux@gmail.com> Fri Feb 15 23:03:10 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 15 23:18:18 2019 -0800
tree 4e12c93540af401c61934eed6c74848a53bb55df
parent 9d9d3746ba108f145c09303e70009256a2282cd1

Tune 2019 subsystems

Change-Id: I0b1d6bb26e70c01236a2f295e36896688c109442

y2019/control_loops/python/elevator.py

diff --git a/y2019/control_loops/python/elevator.py b/y2019/control_loops/python/elevator.py
index 41c05c6..480ed50 100755
--- a/y2019/control_loops/python/elevator.py
+++ b/y2019/control_loops/python/elevator.py
@@ -2,6 +2,7 @@
 
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import linear_system
+import copy
 import numpy
 import sys
 import gflags
@@ -24,19 +25,22 @@
     radius=2.25 * 0.0254 / 2.0,
     mass=first_stage_mass + carriage_mass,
     q_pos=0.070,
-    q_vel=1.2,
+    q_vel=1.35,
     kalman_q_pos=0.12,
     kalman_q_vel=2.00,
     kalman_q_voltage=35.0,
     kalman_r_position=0.05,
     dt=0.00505)
 
+kElevatorModel = copy.copy(kElevator)
+kElevatorModel.mass = carriage_mass + first_stage_mass + 1.0
 
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[1.5], [0.0]])
-        linear_system.PlotKick(kElevator, R)
-        linear_system.PlotMotion(kElevator, R, max_velocity=5.0)
+        linear_system.PlotKick(kElevator, R, plant_params=kElevatorModel)
+        linear_system.PlotMotion(
+            kElevator, R, max_velocity=5.0, plant_params=kElevatorModel)
 
     # Write the generated constants out to a file.
     if len(argv) != 5:

y2019/control_loops/python/intake.py

diff --git a/y2019/control_loops/python/intake.py b/y2019/control_loops/python/intake.py
index 2ac139b..9f4f488 100755
--- a/y2019/control_loops/python/intake.py
+++ b/y2019/control_loops/python/intake.py
@@ -41,8 +41,8 @@
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
-        angular_system.PlotMotion(kIntake, R)
         angular_system.PlotKick(kIntake, R)
+        angular_system.PlotMotion(kIntake, R)
 
     # Write the generated constants out to a file.
     if len(argv) != 5:

y2019/control_loops/python/wrist.py

diff --git a/y2019/control_loops/python/wrist.py b/y2019/control_loops/python/wrist.py
index 2e292a2..66b7b26 100755
--- a/y2019/control_loops/python/wrist.py
+++ b/y2019/control_loops/python/wrist.py
@@ -4,6 +4,7 @@
 from frc971.control_loops.python import control_loop
 from frc971.control_loops.python import angular_system
 from frc971.control_loops.python import controls
+import copy
 import numpy
 import sys
 from matplotlib import pylab
@@ -36,12 +37,15 @@
     kalman_q_voltage=4.0,
     kalman_r_position=0.05)
 
+kWristModel = copy.copy(kWrist)
+kWristModel.J = 0.1348
+
 
 def main(argv):
     if FLAGS.plot:
         R = numpy.matrix([[numpy.pi / 2.0], [0.0]])
-        angular_system.PlotMotion(kWrist, R)
-        angular_system.PlotKick(kWrist, R)
+        angular_system.PlotKick(kWrist, R, plant_params=kWristModel)
+        angular_system.PlotMotion(kWrist, R, plant_params=kWristModel)
 
     # Write the generated constants out to a file.
     if len(argv) != 5: