commit da82513fce3c7e8dfb3e6dbc98de8c700422d417
author Austin Schuh <austin@peloton-tech.com> Sun Mar 02 13:59:59 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Mar 02 13:59:59 2014 -0800
tree 3d0eb80a60f9ec8a293f2e141447d7cb17d820ca
parent 4f8633fbe1332049767ad48645d431a2bef783c7

Sped up observer.

frc971/control_loops/python/claw.py

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,