Added control loops for all the subsystems.
Change-Id: Ie693940734fe0b45f010bb3da0bfb0ec3ba719f5
diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index a9e5101..17e0079 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -28,13 +28,13 @@
# Free Current in Amps
self.free_current = 4.7 * self.num_motors
# Moment of inertia of the drivetrain in kg m^2
- self.J = 1.5
+ self.J = 2.0
# Mass of the robot, in kg.
- self.m = 50
+ self.m = 24
# Radius of the robot, in meters (requires tuning by hand)
- self.rb = 0.6 / 2.0
+ self.rb = 0.59055 / 2.0
# Radius of the wheels, in meters.
- self.r = 0.041275
+ self.r = 0.08255 / 2.0
# Resistance of the motor, divided by the number of motors.
self.resistance = 12.0 / self.stall_current
# Motor velocity constant