commit 834302a3ef17975f0fc150a32ee6e3cb5e033fe2
author Austin Schuh <austin.linux@gmail.com> Sat Feb 16 15:47:25 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 16 15:47:25 2019 -0800
tree f57e3487907c5cee1652841cdd22462571f74eff
parent bdc861234e00758113f1cb8d2f7f67b4f8fe3d0b

Tune drivetrain for 2019

Change-Id: I6b011fa13b622738fa1c17e66af412587f396d8e

y2019/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2019/control_loops/drivetrain/drivetrain_base.cc b/y2019/control_loops/drivetrain/drivetrain_base.cc
index 71f7cb9..26ca861 100644
--- a/y2019/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2019/control_loops/drivetrain/drivetrain_base.cc
@@ -24,12 +24,11 @@
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
       ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
-      drivetrain::MakeDrivetrainLoop,
-      drivetrain::MakeVelocityDrivetrainLoop,
+      drivetrain::MakeDrivetrainLoop, drivetrain::MakeVelocityDrivetrainLoop,
       drivetrain::MakeKFDrivetrainLoop,
       drivetrain::MakeHybridVelocityDrivetrainLoop,
 
@@ -37,10 +36,8 @@
           chrono::duration<double>(drivetrain::kDt)),
       drivetrain::kRobotRadius, drivetrain::kWheelRadius, drivetrain::kV,
 
-      drivetrain::kHighGearRatio, drivetrain::kLowGearRatio,
-      drivetrain::kJ,
-      drivetrain::kMass,
-      kThreeStateDriveShifter, kThreeStateDriveShifter,
+      drivetrain::kHighGearRatio, drivetrain::kLowGearRatio, drivetrain::kJ,
+      drivetrain::kMass, kThreeStateDriveShifter, kThreeStateDriveShifter,
       true /* default_high_gear */, 0 /* down_offset if using constants use
                                    constants::GetValues().down_error */,
       0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,

y2019/control_loops/python/drivetrain.py

diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
index b0a213b..e2d6eec 100644
--- a/y2019/control_loops/python/drivetrain.py
+++ b/y2019/control_loops/python/drivetrain.py
@@ -18,10 +18,10 @@
 # Encoder is on a 24 tooth gear attached to the output gear.
 
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=4.0,
-    mass=40.0,
+    J=1.5,
+    mass=38.5,
     # TODO(austin): Measure.
-    robot_radius=0.616 / 2.0,
+    robot_radius=0.45 / 2.0,
     wheel_radius=4.0 * 0.0254 / 2.0,
     G=9.0 / 52.0,
     q_pos=0.14,