commit 95fbcc550af357c1aeff4e1247f71963afdcf6d0
author Michael Schuh <michael@boardsailor.com> Sat Mar 10 20:57:20 2018 -0800
committer Michael Schuh <michael@boardsailor.com> Wed Nov 28 20:35:55 2018 -0800
tree c1b80ba0e1d86e6c727da527c903f6748156cb5e
parent 5e8890fa455067a3529f2898db5dae3c4c51eb90

Added CG offset from center to physics model.

Updates the physics to model the effect of the CG located to the left
or right of the center of the robot.

It would be good to add a test case to show that the changes work.
Please help me with this by suggesting how I might add a test
case.

Change-Id: I19c18209cd380293d7d35a52d7214bbfef4acfd6

y2018/control_loops/python/drivetrain.py

diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index 64217a0..6421379 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -30,6 +30,7 @@
     force=True,
     kf_q_voltage=13.0,
     controller_poles=[0.82, 0.82],
+    robot_cg_offset=0.0,
 )