Sped up observer.
diff --git a/frc971/control_loops/claw/claw_motor_plant.cc b/frc971/control_loops/claw/claw_motor_plant.cc
index 76cbeca..d78de55 100644
--- a/frc971/control_loops/claw/claw_motor_plant.cc
+++ b/frc971/control_loops/claw/claw_motor_plant.cc
@@ -9,9 +9,9 @@
StateFeedbackPlantCoefficients<4, 2, 2> MakeClawPlantCoefficients() {
Eigen::Matrix<double, 4, 4> A;
- A << 1.0, 0.0, 0.00767587925947, 0.0, 0.0, 1.0, 0.0, 0.00767587925947, 0.0, 0.0, 0.574320358283, 0.0, 0.0, 0.0, 0.0, 0.574320358283;
+ A << 1.0, 0.0, 0.00807639596609, 0.0, 0.0, 1.0, 0.0, 0.00807639596609, 0.0, 0.0, 0.641687189181, 0.0, 0.0, 0.0, 0.0, 0.641687189181;
Eigen::Matrix<double, 4, 2> B;
- B << 0.000908630807869, 0.0, 0.0, 0.000908630807869, 0.166422350613, 0.0, 0.0, 0.166422350613;
+ B << 0.000752046077845, 0.0, 0.0, 0.000752046077845, 0.140084829969, 0.0, 0.0, 0.140084829969;
Eigen::Matrix<double, 2, 4> C;
C << 1, 0, 0, 0, 1, 1, 0, 0;
Eigen::Matrix<double, 2, 2> D;
@@ -25,9 +25,9 @@
StateFeedbackController<4, 2, 2> MakeClawController() {
Eigen::Matrix<double, 4, 2> L;
- L << 1.47432035828, 4.62747953155e-16, -1.47432035828, 1.47432035828, 35.823366785, 1.12408806964e-14, -35.823366785, 35.823366785;
+ L << 1.60168718918, 2.51306790994e-16, -1.60168718918, 1.60168718918, 47.8568612552, 7.50700456808e-15, -47.8568612552, 47.8568612552;
Eigen::Matrix<double, 2, 4> K;
- K << 78.988151683, 0.0, 1.65649264651, 0.0, 0.0, 109.921478378, 0.0, 2.09683545663;
+ K << 81.0129676169, 0.0, 1.94955302675, 0.0, 0.0, 113.660854272, 0.0, 2.47702820281;
return StateFeedbackController<4, 2, 2>(L, K, MakeClawPlantCoefficients());
}
diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index 420f13a..f6b3349 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -19,7 +19,7 @@
self.free_current = 2.7
# Moment of inertia of the claw in kg m^2
# approzimately 0.76 (without ball) in CAD
- self.J = 0.80
+ self.J = 1.00
# Resistance of the motor
self.R = 12.0 / self.stall_current + 0.024 + .003
# Motor velocity constant
@@ -76,8 +76,8 @@
print "Placed controller poles"
print numpy.linalg.eig(self.A - self.B * self.K)[0]
- self.rpl = .05
- self.ipl = 0.008
+ self.rpl = .02
+ self.ipl = 0.004
self.PlaceObserverPoles([self.rpl + 1j * self.ipl,
self.rpl - 1j * self.ipl,
self.rpl + 1j * self.ipl,