Converted state feedback controller and plant over to being gain scheduled, and used them in the indexer. Also wrote the python to make it easy to design gain scheduled controllers.
diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 25a6795..83beb90 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -17,7 +17,7 @@
# Free Current in Amps
self.free_current = 1.4
# Moment of inertia of the shooter wheel in kg m^2
- self.J = 0.0040
+ self.J = 0.0032
# Resistance of the motor, divided by 2 to account for the 2 motors
self.R = 12.0 / self.stall_current / 2
# Motor velocity constant
@@ -129,11 +129,11 @@
if len(argv) != 3:
print "Expected .h file name and .cc file name"
else:
+ loop_writer = control_loop.ControlLoopWriter("Shooter", [shooter])
if argv[1][-3:] == '.cc':
- print '.cc file is second'
+ loop_writer.Write(argv[2], argv[1])
else:
- shooter.DumpHeaderFile(argv[1])
- shooter.DumpCppFile(argv[2], argv[1])
+ loop_writer.Write(argv[1], argv[2])
if __name__ == '__main__':