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/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],
 )