Tuned drive
Change-Id: I6e174df4a55195bde9605b49b8ed42cb4b62eb99
diff --git a/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
index 403c215..5997342 100644
--- a/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -37,8 +37,8 @@
kThreeStateDriveShifter,
true,
0.0,
- 0.25,
- 0.50};
+ 0.4,
+ 1.0};
return kDrivetrainConfig;
};
diff --git a/y2016_bot3/control_loops/intake/intake.h b/y2016_bot3/control_loops/intake/intake.h
index 57d8f84..cfc204f 100644
--- a/y2016_bot3/control_loops/intake/intake.h
+++ b/y2016_bot3/control_loops/intake/intake.h
@@ -31,7 +31,7 @@
static constexpr ::frc971::constants::Range kIntakeRange{// Lower hard stop
-0.4,
// Upper hard stop
- 2.80,
+ 2.90,
// Lower soft stop
-0.28,
// Uppper soft stop
diff --git a/y2016_bot3/control_loops/python/drivetrain.py b/y2016_bot3/control_loops/python/drivetrain.py
index 5a67416..5de7dbc 100755
--- a/y2016_bot3/control_loops/python/drivetrain.py
+++ b/y2016_bot3/control_loops/python/drivetrain.py
@@ -71,9 +71,9 @@
# Free Current in Amps
self.free_current = 4.7 * self.num_motors
# Moment of inertia of the drivetrain in kg m^2
- self.J = 2.0
+ self.J = 8.0
# Mass of the robot, in kg.
- self.m = 68
+ self.m = 45
# Radius of the robot, in meters (requires tuning by hand)
self.rb = 0.601 / 2.0
# Radius of the wheels, in meters.
diff --git a/y2016_bot3/control_loops/python/polydrivetrain.py b/y2016_bot3/control_loops/python/polydrivetrain.py
index ac85bb6..07f9ff9 100755
--- a/y2016_bot3/control_loops/python/polydrivetrain.py
+++ b/y2016_bot3/control_loops/python/polydrivetrain.py
@@ -128,7 +128,7 @@
# FF * X = U (steady state)
self.FF = self.B.I * (numpy.eye(2) - self.A)
- self.PlaceControllerPoles([0.67, 0.67])
+ self.PlaceControllerPoles([0.85, 0.85])
self.PlaceObserverPoles([0.02, 0.02])
self.G_high = self._drivetrain.G_high
diff --git a/y2016_bot3/wpilib/wpilib_interface.cc b/y2016_bot3/wpilib/wpilib_interface.cc
index b870e00..3d7d8ce 100644
--- a/y2016_bot3/wpilib/wpilib_interface.cc
+++ b/y2016_bot3/wpilib/wpilib_interface.cc
@@ -84,13 +84,13 @@
// with proper units.
double drivetrain_translate(int32_t in) {
- return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
+ return -static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
::y2016_bot3::constants::kDrivetrainEncoderRatio *
control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
}
double drivetrain_velocity_translate(double in) {
- return (1.0 / in) / 256.0 /*cpr*/ *
+ return (1.0 / in) / 512.0 /*cpr*/ *
::y2016_bot3::constants::kDrivetrainEncoderRatio *
control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
}