y2024/control_loops/drivetrain/drivetrain_config.jinja2.json

{
  "shifter_type": "kSimpleShifter",
  "loop_type": "kClosedLoop",
  "gyro_type": "kSpartanGyro",
  "imu_type" : "kImuX",
  "loop_config": {% include 'y2024/control_loops/drivetrain/drivetrain_loop_config.json' %},
  "default_high_gear": false,
  "down_offset": 0.0,
  "wheel_non_linearity": 0.7,
  "quickturn_wheel_multiplier": 1.2,
  "wheel_multiplier": 1.2,
  "pistol_grip_shift_enables_line_follow": false,
  "imu_transform": {
    "rows": 3,
    "cols": 3,
    "data": [1, 0, 0, 0, 1, 0, 0, 0, 1]
  },
  "is_simulated": true,
  "down_estimator_config": {
    "gravity_threshold": 0.015,
    "do_accel_corrections": 1000
  },
  "top_button_use": "kNone",
  "second_button_use": "kTurn1",
  "bottom_button_use": "kControlLoopDriving",
  "spline_follower_config": {
    "q": {
      "rows": 5,
      "cols": 5,
      "data": [3600, 0,    0,    0,  0,
               0,    3600, 0,    0,  0,
               0,    0,    1600, 0,  0,
               0,    0,    0,    16, 0,
               0,    0,    0,    0,  16]
    },
    "r": {
      "rows": 2,
      "cols": 2,
      "data": [5, 0, 0, 5]
    }
  }
}