Tune y2020/2021 drivetrain controller
The falcons are proving to be way more aggressive than CIMs were. The
higher kt means that the controllers are more aggressive by default.
Detune both the voltage error and the controller enough to make it
stable and smooth.
Change-Id: I7c32ad7f8f2e9ca9d1312ddb176cbf45524eaf8a
diff --git a/y2020/control_loops/python/drivetrain.py b/y2020/control_loops/python/drivetrain.py
index 72be909..84bbb66 100644
--- a/y2020/control_loops/python/drivetrain.py
+++ b/y2020/control_loops/python/drivetrain.py
@@ -14,18 +14,18 @@
kDrivetrain = drivetrain.DrivetrainParams(
J=6.0,
- mass=68.0,
+ 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,
+ q_pos=0.24,
+ q_vel=2.5,
efficiency=0.80,
has_imu=True,
force=True,
- kf_q_voltage=13.0,
+ kf_q_voltage=1.0,
controller_poles=[0.82, 0.82])