Upgraded //y2012 to use the common drive code.
This is a fixup from changing the call signature of DoCoerceGoal
Change-Id: I6a99f666bebd9a728f42083a9c0280e8f2dab295
diff --git a/y2016_bot3/control_loops/python/drivetrain.py b/y2016_bot3/control_loops/python/drivetrain.py
index 738031c..7f470d9 100755
--- a/y2016_bot3/control_loops/python/drivetrain.py
+++ b/y2016_bot3/control_loops/python/drivetrain.py
@@ -96,6 +96,7 @@
q_pos = 0.14
q_vel = 0.95
+ # Tune the LQR controller
self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0, 0.0, 0.0],
[0.0, (1.0 / (q_vel ** 2.0)), 0.0, 0.0],
[0.0, 0.0, (1.0 / (q_pos ** 2.0)), 0.0],
@@ -126,10 +127,10 @@
self.unaugmented_A_continuous = self.A_continuous
self.unaugmented_B_continuous = self.B_continuous
- # The states are
# The practical voltage applied to the wheels is
# V_left = U_left + left_voltage_error
#
+ # The states are
# [left position, left velocity, right position, right velocity,
# left voltage error, right voltage error, angular_error]
#