| commit | 0080ded2d70d8068a6a979f379c62262b8730537 | [log] [tgz] |
|---|---|---|
| author | James Kuszmaul <jabukuszmaul+collab@gmail.com> | Fri Mar 15 22:49:08 2024 -0700 |
| committer | James Kuszmaul <jabukuszmaul+collab@gmail.com> | Sat Mar 16 12:04:33 2024 -0700 |
| tree | 4906b64c85c9d68791f8efc036ee4d9a8a95cc2f | |
| parent | 20a2b774c85cd738c9417f2e573dda772e297dc8 [diff] [blame] |
Tweak y2024 drivetrain wheel radius Change-Id: Id3a72ae3fb2216576dd121e536546ceb9b945ad1 Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py index 01f6716..0e75589 100644 --- a/y2024/control_loops/python/drivetrain.py +++ b/y2024/control_loops/python/drivetrain.py
@@ -17,7 +17,7 @@ mass=68.0, # TODO(austin): Measure radius a bit better. robot_radius=0.39, - wheel_radius=2 * 0.0254, + wheel_radius=2 * 0.0254 * 3.7592 / 3.825, motor_type=control_loop.KrakenFOC(), num_motors=2, G=(14.0 / 52.0) * (36.0 / 56.0),