commit 34b1d2e4a1a6d74113e0fb75cf5eaa502f2c18c4
author Austin Schuh <austin.linux@gmail.com> Sun Nov 07 17:39:36 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Nov 07 17:53:06 2021 -0800
tree cb724baf06614a9d5d6d6510e65810ac008da5a1
parent 88fc8da933f459cf4073ce6556540baad4f7ac50

Adjust the tire size

The tires wore, this makes them more accurate.

Change-Id: Ibd64bd1723eeef6b30a1ac3d13152b779a731e35
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/control_loops/python/drivetrain.py

diff --git a/y2020/control_loops/python/drivetrain.py b/y2020/control_loops/python/drivetrain.py
index f5c6214..ba43450 100644
--- a/y2020/control_loops/python/drivetrain.py
+++ b/y2020/control_loops/python/drivetrain.py
@@ -17,7 +17,7 @@
     mass=58.0,
     # TODO(austin): Measure radius a bit better.
     robot_radius=0.7 / 2.0,
-    wheel_radius=6.0 * 0.0254 / 2.0,
+    wheel_radius=6.0 * 0.0254 / 2.0 * 0.99,
     motor_type=control_loop.Falcon(),
     G=(8.0 / 70.0) * (17.0 / 24.0),
     q_pos=0.24,