Updated shooter motor constants.
diff --git a/bot3/control_loops/python/shooter.py b/bot3/control_loops/python/shooter.py
index 7cbe617..cc7930f 100755
--- a/bot3/control_loops/python/shooter.py
+++ b/bot3/control_loops/python/shooter.py
@@ -40,8 +40,10 @@
self.C = numpy.matrix([[1, 0]])
self.D = numpy.matrix([[0]])
- self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
- self.dt, self.C)
+ self.A, self.B = self.ContinuousToDiscrete(self.A_continuous, self.B_continuous,
+ self.dt)
+
+ self.InitializeState()
self.PlaceControllerPoles([.6, .981])
@@ -77,7 +79,7 @@
pylab.plot(range(shooter_data.shape[0]), real_x, label='Reality')
pylab.plot(range(shooter_data.shape[0]), x_vel, label='Velocity')
pylab.legend()
- pylab.show()
+# pylab.show()
# Simulate the closed loop response of the system to a step input.
shooter = Shooter()
@@ -112,7 +114,7 @@
#pylab.plot(pylab.linspace(0,1.99,200), close_loop_U, 'ro')
#pylab.plotfile("shooter.csv", (0,2))
pylab.plot(pylab.linspace(0,1.99,200), close_loop_x, 'ro')
- pylab.show()
+# pylab.show()
# Simulate spin down.
spin_down_x = [];