commit 94a5237117053319b52d603181f13388e720696e
author Adam Snaider <adsnaider@gmail.com> Wed Oct 19 20:06:01 2016 -0700
committer Adam Snaider <adsnaider@gmail.com> Sun Oct 23 17:05:42 2016 -0700
tree c87cac56ae4d7be56f3266caaa3b21d2efc769f3
parent 63c37672292e9ca2e4fda6e2299efa34043a8547

Changed butterknife's constants to fix drivetrain.

Fixed test.

Change-Id: I1474ea42e2b613a9e87438a472159e7087669001

y2014_bot3/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index bca3f24..1ebc4e9 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -37,7 +37,10 @@
       // No shifter sensors, so we could put anything for the things below.
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      false};
+      false,
+      0.0,
+      0.60,
+      0.60};
 
   return kDrivetrainConfig;
 };

y2014_bot3/control_loops/python/drivetrain.py

diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
index b0555a0..4c3577b 100755
--- a/y2014_bot3/control_loops/python/drivetrain.py
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -75,9 +75,9 @@
     # Mass of the robot, in kg.
     self.m = 37
     # Radius of the robot, in meters (requires tuning by hand)
-    self.rb = 0.601 / 2.0
+    self.rb = 0.45 / 2.0
     # Radius of the wheels, in meters.
-    self.r = 0.0508
+    self.r = 0.04445
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant