| commit | 7e83518c793ace57f4ee2961018b4597c46c81c5 | [log] [tgz] |
|---|---|---|
| author | Filip Kujawa <filip.j.kujawa@gmail.com> | Sat Jan 13 16:22:09 2024 -0800 |
| committer | Filip Kujawa <filip.j.kujawa@gmail.com> | Sat Jan 13 16:45:13 2024 -0800 |
| tree | 526d4b6f94fb63b90394178d4f8e8b72a46be71b | |
| parent | 2267d18271a1e84b2dc65139566083fae5f9986e [diff] [blame] |
Add Kraken Motor Class to control_loop.py Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com> Change-Id: Idfb68b967e05a1d638ce6097b81efb86e445c756
diff --git a/y2024/control_loops/python/drivetrain.py b/y2024/control_loops/python/drivetrain.py index 1d1054a..64dcc47 100644 --- a/y2024/control_loops/python/drivetrain.py +++ b/y2024/control_loops/python/drivetrain.py
@@ -18,7 +18,7 @@ # TODO(austin): Measure radius a bit better. robot_radius=0.39, wheel_radius=2.5 * 0.0254, - motor_type=control_loop.Falcon(), + motor_type=control_loop.KrakenFOC(), num_motors=3, G=(14.0 / 52.0) * (26.0 / 58.0), q_pos=0.24,