commit ba32a9ea0fb2b43fa7394a6c099266abf5815158
author Austin Schuh <austin.linux@gmail.com> Sat Nov 03 15:28:13 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Thu Nov 29 17:30:07 2018 +1100
tree 8e175888cde66399427e44ac96a5b3d22c9daaa9
parent 95fbcc550af357c1aeff4e1247f71963afdcf6d0

Fixed sensor problems and tuned butterknife

Change-Id: Ie17b43a450ffacd22fee672086356d4422328018

y2014_bot3/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
index e39a99a..2daaf6a 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -20,7 +20,7 @@
 const DrivetrainConfig<double> &GetDrivetrainConfig() {
   static DrivetrainConfig<double> kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
-      ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+      ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
       ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
       ::frc971::control_loops::drivetrain::IMUType::IMU_X,
 
@@ -36,7 +36,7 @@
       // No shifter sensors, so we could put anything for the things below.
       kThreeStateDriveShifter, kThreeStateDriveShifter,
       false /* default_high_gear */, 0.0, 0.60 /* wheel_non_linearity */,
-      0.60 /* quickturn_wheel_multiplier */, 1.0 /* wheel_multiplier */,
+      0.60 /* quickturn_wheel_multiplier */, 0.7 /* wheel_multiplier */,
   };
 
   return kDrivetrainConfig;

y2014_bot3/control_loops/drivetrain/drivetrain_base.h

diff --git a/y2014_bot3/control_loops/drivetrain/drivetrain_base.h b/y2014_bot3/control_loops/drivetrain/drivetrain_base.h
index 36f8ddf..d41ff99 100644
--- a/y2014_bot3/control_loops/drivetrain/drivetrain_base.h
+++ b/y2014_bot3/control_loops/drivetrain/drivetrain_base.h
@@ -8,7 +8,7 @@
 namespace drivetrain {
 
 const double kDrivetrainEncoderRatio =
-    (17.0 / 50.0) /*output reduction*/ * (24.0 / 64.0) /*encoder gears*/;
+    (17.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/;
 
 const ::frc971::control_loops::drivetrain::DrivetrainConfig<double>
     &GetDrivetrainConfig();

y2014_bot3/control_loops/python/drivetrain.py

diff --git a/y2014_bot3/control_loops/python/drivetrain.py b/y2014_bot3/control_loops/python/drivetrain.py
index 93993c3..48510be 100755
--- a/y2014_bot3/control_loops/python/drivetrain.py
+++ b/y2014_bot3/control_loops/python/drivetrain.py
@@ -22,7 +22,7 @@
                                           q_vel_high = 0.95,
                                           has_imu = False,
                                           dt = 0.005,
-                                          controller_poles = [0.67, 0.67])
+                                          controller_poles = [0.83, 0.83])
 
 def main(argv):
   argv = FLAGS(argv)