Fuck. Saturation again. This is slowly driving my insane.
Happened today after powering up the DMs from being off all night, so that pretty much eliminates the charge build-up explanation. Nothing changed in the code from yesterday's working version, and I even used the same disturbance sequences, so the problem isn't there.
I'm really out of ideas on what could be causing this other than some plant modeling error, or some problem with the WFS image that happens during the experiment. Tomorrow I'm going to display the WFS image while the test is running to see if anything shitty happens around the saturation point. I might also do a system ID on the closed loop plant to see how closely it matches the internal model.
I feel like my whole life is treading water right now because of this.
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On the edge of incompetence
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