commit 4b36e2ef9af65b0726b14bdb109a7a3cca9ccad7
author Brian Silverman <brians> Mon Mar 16 15:46:53 2015 -0700
committer Brian Silverman <brians> Thu Mar 19 09:43:35 2015 -0700
tree 2b1dd695e1aff253ff19f5b4defa9f67fa629c5a
parent f33d6538d9abc2e7955cae374b8b1ceca311adeb

tune the drivetrain for this year's robot

Change-Id: I12aa734f4f09ce110faeb292fd0c9bfe08a46b2a

frc971/control_loops/python/drivetrain.py

diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index e2b42f5..8ed62d6 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -56,14 +56,14 @@
     # Stall Torque in N m
     self.stall_torque = 2.42
     # Stall Current in Amps
-    self.stall_current = 133
+    self.stall_current = 133.0
     # Free Speed in RPM. Used number from last year.
     self.free_speed = 4650.0
     # Free Current in Amps
     self.free_current = 2.7
     # Moment of inertia of the drivetrain in kg m^2
     # Just borrowed from last year.
-    self.J = 4.5
+    self.J = 10
     # Mass of the robot, in kg.
     self.m = 68
     # Radius of the robot, in meters (from last year).
@@ -71,7 +71,7 @@
     # Radius of the wheels, in meters.
     self.r = .0515938
     # Resistance of the motor, divided by the number of motors.
-    self.R = 12.0 / self.stall_current / 4
+    self.R = 12.0 / self.stall_current / 2
     # Motor velocity constant
     self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
                (12.0 - self.R * self.free_current))