| commit | d0180f18609785dcb224067e110b613baa9a97e8 | [log] [tgz] |
|---|---|---|
| author | Diana Burgess <dkvandenberg2@gmail.com> | Wed Mar 21 21:24:17 2018 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Apr 04 20:03:39 2018 -0700 |
| tree | 3755291f688f7faaaea96e5c33d3f1ea2ab3462d | |
| parent | 005d3cb3c3e7d7bac3a662047e90e4fed2001c90 [diff] [blame] |
Tune drivetrain. Add force knob, efficiency, IMU Change-Id: I4fd12665490d4e535d5890c2edf8ae611938333d
diff --git a/y2016/control_loops/python/drivetrain.py b/y2016/control_loops/python/drivetrain.py index e8b2c73..7417ffb 100755 --- a/y2016/control_loops/python/drivetrain.py +++ b/y2016/control_loops/python/drivetrain.py
@@ -20,6 +20,7 @@ q_pos_high = 0.14, q_vel_low = 1.0, q_vel_high = 0.95, + has_imu = False, dt = 0.005, controller_poles = [0.67, 0.67])