commit eb5c22e03c2286dcd185b05868e0461a53cb26a5
author Austin Schuh <austin.linux@gmail.com> Sun Apr 09 18:30:28 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 12 20:41:01 2017 -0700
tree 8df4c12b5864c586d74ae10fa3b617993f3bee35
parent c74e9b680a6ac4c76bb3382fb35ba45fbc2dffaa

Recalibrated all our loops.

Shooter works much much better now. There's still a bit of
oscillation, but it's a lot better.

Change-Id: Ie3b8e09125d62e5b2011c6874fab97641c0b6526

y2017/control_loops/python/hood.py

diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index d42620a..6c7c2d0 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -57,7 +57,7 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.08 + 1.1 + \
+    self.J = 0.08 + 2.3 + \
              self.big_gear_inertia * ((self.G1 / self.G) ** 2) + \
              self.big_gear_inertia * ((self.G2 / self.G) ** 2) + \
              self.motor_inertia * ((1.0 / self.G) ** 2.0)
@@ -94,8 +94,8 @@
     glog.debug(repr(self.A_continuous))
 
     # Calculate the LQR controller gain
-    q_pos = 0.006
-    q_vel = 0.30
+    q_pos = 0.015
+    q_vel = 0.40
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])