Tuned drive
Change-Id: I6e174df4a55195bde9605b49b8ed42cb4b62eb99
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