commit ceb23cccd29ad8224ead6088cc4a6d387a10c380
author Austin Schuh <austin.linux@gmail.com> Wed Apr 20 20:12:18 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Apr 22 21:47:58 2016 -0700
tree 75877cd50133f4a9c31cec024053aed4eea8cbda
parent 3e4a52730c5cb35709d90df4d2b8091bf296b7ad

Recalibrated for the new black wheels.

Change-Id: I36b1253fa600d606d5be10a2a19cddfebbb13a1e

y2016/control_loops/python/drivetrain.py

diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py
index 3701e57..83eb677 100755
--- a/y2016/control_loops/python/drivetrain.py
+++ b/y2016/control_loops/python/drivetrain.py
@@ -77,7 +77,7 @@
     # Radius of the robot, in meters (requires tuning by hand)
     self.rb = 0.601 / 2.0
     # Radius of the wheels, in meters.
-    self.r = 0.097155 * 0.9811158901447808
+    self.r = 0.097155 * 0.9811158901447808 / 118.0 * 115.75
     # Resistance of the motor, divided by the number of motors.
     self.resistance = 12.0 / self.stall_current
     # Motor velocity constant