commit d0180f18609785dcb224067e110b613baa9a97e8
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

Tune drivetrain.

Add force knob, efficiency, IMU

Change-Id: I4fd12665490d4e535d5890c2edf8ae611938333d

y2018/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2018/control_loops/drivetrain/drivetrain_base.cc b/y2018/control_loops/drivetrain/drivetrain_base.cc
index d589bc1..838b5ad 100644
--- a/y2018/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2018/control_loops/drivetrain/drivetrain_base.cc
@@ -21,7 +21,8 @@
   static DrivetrainConfig kDrivetrainConfig{
       ::frc971::control_loops::drivetrain::ShifterType::HALL_EFFECT_SHIFTER,
       ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
-      ::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
+      ::frc971::control_loops::drivetrain::GyroType::IMU_Z_GYRO,
+      ::frc971::control_loops::drivetrain::IMUType::IMU_Y,
 
       ::y2018::control_loops::drivetrain::MakeDrivetrainLoop,
       ::y2018::control_loops::drivetrain::MakeVelocityDrivetrainLoop,
@@ -35,7 +36,7 @@
       true /* default_high_gear */, 0 /* down_offset if using constants use
                                    constants::GetValues().down_error */,
       0.8 /* wheel_non_linearity */, 1.2 /* quickturn_wheel_multiplier */,
-      1.1 /* wheel_multiplier */,
+      1.5 /* wheel_multiplier */,
   };
 
   return kDrivetrainConfig;

y2018/control_loops/python/drivetrain.py

diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index 988ac74..64217a0 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -15,16 +15,20 @@
 #J needs updating
 
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=2.5,
+    J=6.0,
     mass=68.0,
     robot_radius=0.616 / 2.0,
-    wheel_radius=0.127 / 2.0,
+    wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
     G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
     G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
     q_pos_low=0.12,
     q_pos_high=0.14,
     q_vel_low=1.0,
     q_vel_high=0.95,
+    efficiency=0.70,
+    has_imu=True,
+    force=True,
+    kf_q_voltage=13.0,
     controller_poles=[0.82, 0.82],
 )