Update python models to have accurate constants
This should bring the python models all up to date. Thanks Sarah for
pulling some of these out of the CAD.
Change-Id: I948685629b8d6835dccd72e623bf110525cb4254
diff --git a/y2020/control_loops/python/drivetrain.py b/y2020/control_loops/python/drivetrain.py
index 54745dd..696c8a2 100644
--- a/y2020/control_loops/python/drivetrain.py
+++ b/y2020/control_loops/python/drivetrain.py
@@ -1,6 +1,7 @@
#!/usr/bin/python
from frc971.control_loops.python import drivetrain
+from frc971.control_loops.python import control_loop
import sys
import gflags
@@ -11,11 +12,13 @@
gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
kDrivetrain = drivetrain.DrivetrainParams(
- J=1.5,
- mass=38.5,
- robot_radius=0.45 / 2.0,
- wheel_radius=4.0 * 0.0254 / 2.0,
- G=9.0 / 52.0,
+ J=6.0,
+ mass=58.0,
+ # TODO(austin): Measure radius a bit better.
+ robot_radius=0.7 / 2.0,
+ wheel_radius=6.0 * 0.0254 / 2.0,
+ motor_type=control_loop.Falcon(),
+ G=(8.0 / 70.0) * (17.0 / 24.0),
q_pos=0.14,
q_vel=1.30,
efficiency=0.80,