Tuned elevator.
Change-Id: Id8698bfe4275185bf1b08786de9ab0f69a813d1d
diff --git a/bot3/control_loops/python/elevator3.py b/bot3/control_loops/python/elevator3.py
index 04edd53..c9ded12 100755
--- a/bot3/control_loops/python/elevator3.py
+++ b/bot3/control_loops/python/elevator3.py
@@ -125,7 +125,7 @@
self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous, self.dt)
q_pos = 0.08
- q_vel = 0.40
+ q_vel = 4.00
q_voltage = 6.0
self.Q = numpy.matrix([[(q_pos ** 2.0), 0.0, 0.0],
[0.0, (q_vel ** 2.0), 0.0],
@@ -262,7 +262,8 @@
if len(argv) != 5:
print "Expected .h file name and .cc file name for the Elevator and integral elevator."
else:
- elevator = Elevator("Elevator")
+ design_mass = 4*totemass + loaded_mass
+ elevator = Elevator("Elevator", mass=design_mass)
loop_writer = control_loop.ControlLoopWriter("Elevator", [elevator],
namespaces=['bot3', 'control_loops'])
if argv[1][-3:] == '.cc':
@@ -270,7 +271,7 @@
else:
loop_writer.Write(argv[1], argv[2])
- integral_elevator = IntegralElevator("IntegralElevator")
+ integral_elevator = IntegralElevator("IntegralElevator", mass=design_mass)
integral_loop_writer = control_loop.ControlLoopWriter("IntegralElevator", [integral_elevator],
namespaces=['bot3', 'control_loops'])
if argv[3][-3:] == '.cc':