Changed control loop cycle to 5.05 ms
Change-Id: If2a1e1ab01e051798fdaff77914a418ab2136f2c
diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index 1f5c505..422614f 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -56,7 +56,7 @@
self.Gr = self.G_high
# Control loop time step
- self.dt = 0.005
+ self.dt = 0.00505
# These describe the way that a given side of a robot will be influenced
# by the other side. Units of 1 / kg.
diff --git a/y2017/control_loops/python/polydrivetrain.py b/y2017/control_loops/python/polydrivetrain.py
index f20ec2f..d3a5683 100755
--- a/y2017/control_loops/python/polydrivetrain.py
+++ b/y2017/control_loops/python/polydrivetrain.py
@@ -112,7 +112,7 @@
super(VelocityDrivetrainModel, self).__init__(name)
self._drivetrain = drivetrain.Drivetrain(left_low=left_low,
right_low=right_low)
- self.dt = 0.005
+ self.dt = 0.00505
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]]])
@@ -178,7 +178,7 @@
[[-12.0000000000],
[-12.0000000000]])
- self.dt = 0.005
+ self.dt = 0.00505
self.R = numpy.matrix(
[[0.0],
diff --git a/y2017/control_loops/superstructure/shooter/shooter.cc b/y2017/control_loops/superstructure/shooter/shooter.cc
index c0b9d6e..f864696 100644
--- a/y2017/control_loops/superstructure/shooter/shooter.cc
+++ b/y2017/control_loops/superstructure/shooter/shooter.cc
@@ -102,7 +102,7 @@
position_error_ = X_hat_current_(0, 0) - Y_(0, 0);
dt_velocity_ = dt_position_ /
chrono::duration_cast<chrono::duration<double>>(dt).count();
- fixed_dt_velocity_ = dt_position_ / 0.005;
+ fixed_dt_velocity_ = dt_position_ / 0.00505;
loop_->Update(disabled, dt);
}