commit 9f77fd2fa3d522f050daedcc5217475872d11d4c
author Austin Schuh <austin.linux@gmail.com> Sun Feb 21 02:53:58 2016 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 21 17:14:15 2016 -0800
tree 35e42f33e5e5fa2a60c53d9e67c3da37634b26d3
parent ccf32807adff080fc7518271cbfc02a642542801

Calibrated superstructure sensors.

Change-Id: I423537e51e13b5836d31cfe6f859c9d98afe2d91

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index bb86625..c5782c9 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -79,7 +79,7 @@
     # Radius of the robot, in meters (requires tuning by hand)
     self.rb = 0.601 / 2.0
     # Radius of the wheels, in meters.
-    self.r = 0.097155
+    self.r = 0.097155 * 0.9811158901447808
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant