Fix some of the constants in drivetrain.
This includes the shifter hall effect constants, for which
I guessed whether we were using the drivebase from the old comp
or practice bot, and guessed wrong. They also include the
drivetrain python code, for which some of the constants weren't
correct.
(This was formerly a part of I3d012fb8a9652c0b85ed27f5d23fe7d63bb977ce.)
Change-Id: I5869b7e57a039131018150c690287f81670a3483
diff --git a/bot3/control_loops/python/drivetrain.py b/bot3/control_loops/python/drivetrain.py
index 65faf2a..0a0ef39 100755
--- a/bot3/control_loops/python/drivetrain.py
+++ b/bot3/control_loops/python/drivetrain.py
@@ -67,7 +67,7 @@
# Mass of the robot, in kg.
self.m = 60
# Radius of the robot, in meters (from last year).
- self.rb = 0.617998644 / 2.0
+ self.rb = 0.7112 / 2.0
# Radius of the wheels, in meters.
self.r = .04445
# Resistance of the motor, divided by the number of motors.