| commit | f59b6bc7024942c45ee91748fd316e7c30e7e209 | [log] [tgz] |
|---|---|---|
| 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 [diff] [blame] |
Split the accelerating and decelerating gains for the superstructure. Change-Id: Iae2c6d994a35443d0bc26fc5b811247ff2c7bf8b
diff --git a/y2016/control_loops/python/wrist.py b/y2016/control_loops/python/wrist.py index 4d4f5f1..660e577 100755 --- a/y2016/control_loops/python/wrist.py +++ b/y2016/control_loops/python/wrist.py
@@ -39,7 +39,7 @@ # Gear ratio self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0) - self.J = 0.15 + self.J = 0.20 # Control loop time step self.dt = 0.005