commit 953cca3f262e324dea9fa988a3253f39f7a7712d
author Austin Schuh <austin.linux@gmail.com> Fri Mar 22 20:30:34 2019 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Mar 22 20:30:34 2019 -0700
tree 2e40ec299def5ed0819cc29ffbbc4ace34f6ecb9
parent e7f6ddfe704a61ee0af2d96c00a05576d86c6526

Tune LQR drivetrain position controller

Change-Id: Iee6cda12019e438966dce4feb18d0673c0e23f76

y2019/control_loops/python/drivetrain.py

diff --git a/y2019/control_loops/python/drivetrain.py b/y2019/control_loops/python/drivetrain.py
index e2d6eec..6a1da4e 100644
--- a/y2019/control_loops/python/drivetrain.py
+++ b/y2019/control_loops/python/drivetrain.py
@@ -24,8 +24,8 @@
     robot_radius=0.45 / 2.0,
     wheel_radius=4.0 * 0.0254 / 2.0,
     G=9.0 / 52.0,
-    q_pos=0.14,
-    q_vel=0.95,
+    q_pos=0.17,
+    q_vel=1.65,
     efficiency=0.80,
     has_imu=True,
     force=True,