Update y2024 drivetrain gear ratio and wheel radius
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Id06e9cdeb05b1dae905fca7dc01412b434767105
diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py
index caedada..01f6716 100644
--- a/y2024/control_loops/python/drivetrain.py
+++ b/y2024/control_loops/python/drivetrain.py
@@ -10,24 +10,25 @@
FLAGS = gflags.FLAGS
-gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
+gflags.DEFINE_bool("plot", False, "If true, plot the loop response.")
kDrivetrain = drivetrain.DrivetrainParams(
J=6.5,
mass=68.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.39,
- wheel_radius=2.5 * 0.0254,
+ wheel_radius=2 * 0.0254,
motor_type=control_loop.KrakenFOC(),
- num_motors=3,
- G=(14.0 / 52.0) * (26.0 / 58.0),
+ num_motors=2,
+ G=(14.0 / 52.0) * (36.0 / 56.0),
q_pos=0.24,
q_vel=2.5,
efficiency=0.92,
has_imu=False,
force=True,
kf_q_voltage=1.0,
- controller_poles=[0.82, 0.82])
+ controller_poles=[0.82, 0.82],
+)
def main(argv):
@@ -40,8 +41,8 @@
print("Expected .h, .cc, and .json filenames")
else:
# Write the generated constants out to a file.
- drivetrain.WriteDrivetrain(argv[1:4], argv[4:7], 'y2024', kDrivetrain)
+ drivetrain.WriteDrivetrain(argv[1:4], argv[4:7], "y2024", kDrivetrain)
-if __name__ == '__main__':
+if __name__ == "__main__":
sys.exit(main(sys.argv))