| commit | 051b46220af7a182ec6debaf15c6d2eb3666ec0f | [log] [tgz] |
|---|---|---|
| author | Campbell Crowley <mail@campbellcrowley.com> | Sat Nov 05 15:07:54 2016 -0700 |
| committer | Campbell Crowley <mail@campbellcrowley.com> | Sat Nov 05 15:07:54 2016 -0700 |
| tree | f72186263f01416b7d68d3a258dda9a6333a8f0b | |
| parent | 483d62784bda3db2011d045de29bbe162cfba892 [diff] [blame] |
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.