commit 3d91716adacf52459c5d7a384cfe4e6ae7bdc30b
author Siddhant Kanwar <kanwarsiddhant@gmail.com> Sun Jan 23 15:57:03 2022 -0800
committer Siddhant Kanwar <kanwarsiddhant@gmail.com> Sat Feb 19 15:50:23 2022 -0800
tree e2cd9bd304d9a0079be722ed539e1f8727d4042f
parent 5524a50d593f865fa6426f4ffb9562fbf82fb200

Adjust the wheel radius and gear ratio for the drivetrain

Signed-off-by: Siddhant Kanwar <kanwarsiddhant@gmail.com>
Change-Id: I360094b3ddc851425f3001715ab253830459b5bf

y2022/control_loops/python/drivetrain.py

diff --git a/y2022/control_loops/python/drivetrain.py b/y2022/control_loops/python/drivetrain.py
index 7b8dc49..59b9651 100644
--- a/y2022/control_loops/python/drivetrain.py
+++ b/y2022/control_loops/python/drivetrain.py
@@ -16,11 +16,11 @@
     J=6.0,
     mass=58.0,
     # TODO(austin): Measure radius a bit better.
-    robot_radius= 0.39,
-    wheel_radius= 3/39.37,
+    robot_radius=0.39,
+    wheel_radius=2.5 * 0.0254,
     motor_type=control_loop.Falcon(),
-    num_motors = 3,
-    G=8.0 / 80.0,
+    num_motors=3,
+    G=(14.0 / 54.0) * (22.0 / 56.0),
     q_pos=0.24,
     q_vel=2.5,
     efficiency=0.80,