commit 6cf36a3697a5b3c4c043a28de46941fd7c0e0c24
author Vinay Siva <100024232@mvla.net> Sun Jun 27 14:26:33 2021 -0700
committer Vinay Siva <100024232@mvla.net> Sat Jul 17 14:05:01 2021 -0700
tree 08f0419c5ab3cce4be4ed1a558c8aa7eb2fcdaf4
parent 24bf4975587d1219a28e6a53a7e72a5cf88cb789

Updated third robot drivetrain parameters

Updated: robot radius, wheel radius, gear ratio
Not: mass

Change-Id: I9bd80e7bc2ca4fff3bd2ba4a4507d9189605c23c
Signed-off-by: Vinay Siva <100024232@mvla.net>

y2021_bot3/control_loops/python/drivetrain.py

diff --git a/y2021_bot3/control_loops/python/drivetrain.py b/y2021_bot3/control_loops/python/drivetrain.py
index e5b001a..fdd08c2 100644
--- a/y2021_bot3/control_loops/python/drivetrain.py
+++ b/y2021_bot3/control_loops/python/drivetrain.py
@@ -16,10 +16,11 @@
     J=6.0,
     mass=58.0,
     # TODO(austin): Measure radius a bit better.
-    robot_radius=0.7 / 2.0,
-    wheel_radius=6.0 * 0.0254 / 2.0,
+    robot_radius= 0.39,
+    wheel_radius= 3/39.37,
     motor_type=control_loop.Falcon(),
-    G=(8.0 / 70.0) * (17.0 / 24.0),
+    num_motors = 3,
+    G=8.0 / 80.0,
     q_pos=0.24,
     q_vel=2.5,
     efficiency=0.80,