commit 001c7c3c43291725fed867e069bb1c95bde8fb77
author Comran Morshed <comranmorsh@gmail.com> Mon Feb 15 21:04:55 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Tue Feb 16 19:34:02 2016 +0000
tree 82063bc085eb284b59046abdbbb6f2c4d28301ce
parent d8c70b48bb10220578072312ad9d8e9953b75b8b

Fix some wrong drivetrain constants.

Change-Id: I40989297b4bf20de68562c99ac7988b6c0034086

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index f94b456..94905a2 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -76,10 +76,10 @@
     self.J = 2.8
     # Mass of the robot, in kg.
     self.m = 68
-    # Radius of the robot, in meters (from last year).
-    self.rb = 0.647998644 / 2.0
+    # Radius of the robot, in meters (requires tuning by hand)
+    self.rb = 0.601 / 2.0
     # Radius of the wheels, in meters.
-    self.r = .04445
+    self.r = 0.097155
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant
@@ -88,8 +88,8 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratios
-    self.G_low = 18.0 / 60.0 * 18.0 / 50.0
-    self.G_high = 28.0 / 50.0 * 18.0 / 50.0
+    self.G_low = 14.0 / 48.0 * 18.0 / 60.0 * 18.0 / 36.0
+    self.G_high = 14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0
     if left_low:
       self.Gl = self.G_low
     else: