Calibrated the fridge more carefully.
Change-Id: I6b51b6c1f9a6762597551e36f626d81606e02666
diff --git a/frc971/control_loops/python/arm.py b/frc971/control_loops/python/arm.py
index 974ae0f..f4a76a0 100755
--- a/frc971/control_loops/python/arm.py
+++ b/frc971/control_loops/python/arm.py
@@ -45,7 +45,7 @@
self.J = self.r * self.mass
# Arm left/right spring constant (N*m / radian)
- self.spring = 3000.0
+ self.spring = 400.0
# State is [average position, average velocity,
# position difference/2, velocity difference/2]
@@ -90,8 +90,8 @@
q_pos = 0.02
q_vel = 0.300
- q_pos_diff = 0.01
- q_vel_diff = 0.15
+ q_pos_diff = 0.005
+ q_vel_diff = 0.13
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos_diff ** 2.0)), 0.0],
@@ -244,7 +244,7 @@
if len(argv) != 3:
print "Expected .h file name and .cc file name for the arm."
else:
- arm = Arm("Arm")
+ arm = Arm("Arm", 2)
loop_writer = control_loop.ControlLoopWriter("Arm", [arm])
if argv[1][-3:] == '.cc':
loop_writer.Write(argv[2], argv[1])
diff --git a/frc971/control_loops/python/elevator.py b/frc971/control_loops/python/elevator.py
index eb3f20c..fba72c8 100755
--- a/frc971/control_loops/python/elevator.py
+++ b/frc971/control_loops/python/elevator.py
@@ -41,7 +41,7 @@
self.dt = 0.005
# Elevator left/right spring constant (N/m)
- self.spring = 3000.0
+ self.spring = 800.0
# State is [average position, average velocity,
# position difference/2, velocity difference/2]