commit d6e9fb4ae5b4be05f8c5ce86727d68af29da6c0f
author Austin Schuh <austin.linux@gmail.com> Sun Apr 09 17:56:06 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 09 18:11:44 2017 -0700
tree 9d240529b91fb2cffea1d5f8b26a6dd610a5433a
parent 8347cb66b0ea04a1eb09f1e6c64b4919645e62e1

Changed control loop cycle to 5.05 ms

Change-Id: If2a1e1ab01e051798fdaff77914a418ab2136f2c

y2017/control_loops/python/polydrivetrain.py

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],