Retune drivetrain closed loop controller to be more rigid
Significantly faster convergance. Slight overshoot on steering, but
it's only gear chattering, no real physical overshoot.
Change-Id: I56bc3b51835dc68579e24178af837858c6352af3
diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
index 6a1da4e..4a68fde 100644
--- a/y2019/control_loops/python/drivetrain.py
+++ b/y2019/control_loops/python/drivetrain.py
@@ -24,8 +24,8 @@
robot_radius=0.45 / 2.0,
wheel_radius=4.0 * 0.0254 / 2.0,
G=9.0 / 52.0,
- q_pos=0.17,
- q_vel=1.65,
+ q_pos=0.14,
+ q_vel=1.30,
efficiency=0.80,
has_imu=True,
force=True,