Updates to motor controller code
This includes new calibration numbers, and various updates made to
enable gathering those. Also includes updates to the PWM generator.
Change-Id: I2712c04b8427419c318174b6934587a1ea7ff997
diff --git a/motors/fet12/motor_controls.cc b/motors/fet12/motor_controls.cc
index d6afab1..9e42ca8 100644
--- a/motors/fet12/motor_controls.cc
+++ b/motors/fet12/motor_controls.cc
@@ -38,16 +38,15 @@
// 3.6 and 1.15 are adjustments from calibrations.
constexpr double Kv = 22000.0 * 2.0 * M_PI / 60.0 / 30.0 * 3.6 * 1.15;
-constexpr double kL = 3e-06;
+constexpr double kL = 5e-06;
constexpr double kM = 0;
-constexpr double kR = 0.01008;
-constexpr float kAdiscrete_diagonal = 0.845354f;
+constexpr double kR = 0.0079;
+constexpr float kAdiscrete_diagonal = 0.92404f;
constexpr float kAdiscrete_offdiagonal = 0.0f;
-constexpr float kBdiscrete_inv_diagonal = 0.0651811f;
+constexpr float kBdiscrete_inv_diagonal = 0.104002f;
constexpr float kBdiscrete_inv_offdiagonal = 0.0f;
constexpr double kOneAmpScalar = 1.46785;
-constexpr double kMaxOneAmpDrivingVoltage = 0.0265038;
-
+constexpr double kMaxOneAmpDrivingVoltage = 0.0434948;
::Eigen::Matrix<float, 3, 3> A_discrete() {
::Eigen::Matrix<float, 3, 3> r;