Retune finisher to not oscillate
There is a small overshoot which appears to be battery or falcon
related, but everything looks a lot smoother and in phase. I don't see
the wild oscillations we were seeing before.
The plus side is that this appears to have made the ball counter work a
lot better.
Change-Id: Id43da39b12ace9516d3698f41ecc667afdab6de8
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index caaee96..6f41a17 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -70,6 +70,10 @@
self.Kff = controls.TwoStateFeedForwards(self.B, self.Qff)
+ glog.debug('K: %s', str(self.K))
+ glog.debug('Poles: %s',
+ str(numpy.linalg.eig(self.A - self.B * self.K)[0]))
+
class Flywheel(VelocityFlywheel):
def __init__(self, params, name="Flywheel"):