| commit | 126924c19dcd3842bee30a82be11ceaa5acf4ee6 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Feb 28 21:56:17 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Feb 28 22:03:31 2016 -0800 |
| tree | f044cdefe58e2c3489972d289223f3ecae53667a | |
| parent | a2af06d8eaca58892f5cb40a90d22e9226d423bc [diff] [blame] |
Tuned drivetrain, fixed --plot flag, and enabled closed loop drive. Change-Id: Ib322da54e1d801e99b6a0e779468160b57eb7739
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py index c5782c9..47787d4 100755 --- a/y2016/control_loops/python/drivetrain.py +++ b/y2016/control_loops/python/drivetrain.py
@@ -73,7 +73,7 @@ # Free Current in Amps self.free_current = 4.7 * self.num_motors # Moment of inertia of the drivetrain in kg m^2 - self.J = 2.8 + self.J = 2.0 # Mass of the robot, in kg. self.m = 68 # Radius of the robot, in meters (requires tuning by hand)