commit f59b6bc7024942c45ee91748fd316e7c30e7e209
author Austin Schuh <austin.linux@gmail.com> Fri Mar 11 21:26:19 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:13:21 2016 -0800
tree 0f468c438046f2c84c477799035a1c3d956cb9f8
parent be133edd957372bb771ccdc80940fd2bad3337b7

Split the accelerating and decelerating gains for the superstructure.

Change-Id: Iae2c6d994a35443d0bc26fc5b811247ff2c7bf8b

y2016/control_loops/python/shoulder.py

diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 07a67f6..6beac61 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -17,7 +17,7 @@
   pass
 
 class Shoulder(control_loop.ControlLoop):
-  def __init__(self, name="Shoulder", mass=None):
+  def __init__(self, name="Shoulder", J=None):
     super(Shoulder, self).__init__(name)
     # TODO(constants): Update all of these & retune poles.
     # Stall Torque in N m
@@ -39,7 +39,10 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (42.0 / 12.0)
 
-    self.J = 3.0
+    if J is None:
+      self.J = 10.0
+    else:
+      self.J = J
 
     # Control loop time step
     self.dt = 0.005
@@ -67,8 +70,8 @@
 
     controllability = controls.ctrb(self.A, self.B)
 
-    q_pos = 0.14
-    q_vel = 4.5
+    q_pos = 0.16
+    q_vel = 1.5
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])