Initial tuning of the control loops.
These were tuned by looking at the plots and looking at how aggressive
the controller is.
Change-Id: I68d7b396ccdcc79640bbffaea8102414720fe164
diff --git a/y2020/control_loops/python/drivetrain.py b/y2020/control_loops/python/drivetrain.py
index 696c8a2..95b9fcf 100644
--- a/y2020/control_loops/python/drivetrain.py
+++ b/y2020/control_loops/python/drivetrain.py
@@ -13,7 +13,7 @@
kDrivetrain = drivetrain.DrivetrainParams(
J=6.0,
- mass=58.0,
+ mass=68.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.7 / 2.0,
wheel_radius=6.0 * 0.0254 / 2.0,
@@ -25,8 +25,7 @@
has_imu=True,
force=True,
kf_q_voltage=13.0,
- controller_poles=[0.82, 0.82],
- robot_cg_offset=0.0)
+ controller_poles=[0.82, 0.82])
def main(argv):
@@ -41,5 +40,6 @@
# Write the generated constants out to a file.
drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2020', kDrivetrain)
+
if __name__ == '__main__':
sys.exit(main(sys.argv))