Fixed c2d triggering a bug in scipy with certain plants.
Change-Id: I6b6a59775654161b0a39dc4a336d9f716931fd30
diff --git a/frc971/control_loops/python/controls.py b/frc971/control_loops/python/controls.py
index ed6a809..211b478 100644
--- a/frc971/control_loops/python/controls.py
+++ b/frc971/control_loops/python/controls.py
@@ -89,7 +89,8 @@
"""Converts from continuous time state space representation to discrete time.
Returns (A, B). C and D are unchanged."""
- ans_a, ans_b, _, _, _ = scipy.signal.cont2discrete((A, B, None, None), dt)
+ ans_a, ans_b, _, _, _ = scipy.signal.cont2discrete(
+ (numpy.array(A), numpy.array(B), None, None), dt)
return numpy.matrix(ans_a), numpy.matrix(ans_b)
def ctrb(A, B):