Adjust pes_error_scale in control example

docs/examples/adaptive_motor_control.ipynb

@@ -427,9 +427,9 @@
    "source": [
     "## Running the network with Nengo Loihi\n",
     "\n",
-    "Loihi has some implicit gains included in it\n",
-    "so we use a learning rate of 1e-6 in Nengo Loihi,\n",
-    "instead of 1e-5, to match the performance of the standard Nengo backend."
+    "Loihi has limits on the magnitude of the \n",
+    "error signal, so we need to adjust the\n",
+    "`pes_error_scale` parameter to avoid too much overflow."
    ]
   },
   {
@@ -438,10 +438,12 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "adapt_loihi_model = add_adaptation(\n",
-    "    add_gravity(build_baseline_model()), learning_rate=1e-6)\n",
     "arm_sim.reset()\n",
-    "with nengo_loihi.Simulator(adapt_loihi_model) as sim:\n",
+    "\n",
+    "model = nengo_loihi.builder.Model()\n",
+    "model.pes_error_scale = 10\n",
+    "\n",
+    "with nengo_loihi.Simulator(adapt_model, model=model) as sim:\n",
     "    sim.run(runtime)\n",
     "adapt_loihi_t = sim.trange()\n",
     "adapt_loihi_data = sim.data"
@@ -453,10 +455,10 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "adapt_loihi_error = calculate_error(adapt_loihi_model, adapt_loihi_data)\n",
+    "adapt_loihi_error = calculate_error(adapt_model, adapt_loihi_data)\n",
     "plot_xy(\n",
     "    [adapt_loihi_t],\n",
-    "    [adapt_loihi_data[adapt_loihi_model.probe_hand]],\n",
+    "    [adapt_loihi_data[adapt_model.probe_hand]],\n",
     "    ['Adapt'])\n",
     "plot_data(\n",
     "    [baseline_t, gravity_t, adapt_t, adapt_loihi_t],\n",