Decapitate bot3 so it only has a drive base
Now that it is the third robot, and has no superstructure, let's check
in the code it is running.
Change-Id: Ief89efae4d4a75d837396e2731b8be4e69f55c4a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
index a97e0dd..8fd6d94 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -27,7 +27,7 @@
static constexpr double kImuYaw = 0.0;
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
- ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
+ ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
index fda7119..810e1f3 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_main.cc
@@ -19,6 +19,10 @@
std::make_unique<::frc971::control_loops::drivetrain::DeadReckonEkf>(
&event_loop,
::y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig());
+ std::unique_ptr<DrivetrainLoop> drivetrain = std::make_unique<DrivetrainLoop>(
+ y2022_bot3::control_loops::drivetrain::GetDrivetrainConfig(), &event_loop,
+ localizer.get());
+
event_loop.Run();
return 0;
diff --git a/y2022_bot3/control_loops/python/drivetrain.py b/y2022_bot3/control_loops/python/drivetrain.py
index 8c5a2f8..638b3f3 100644
--- a/y2022_bot3/control_loops/python/drivetrain.py
+++ b/y2022_bot3/control_loops/python/drivetrain.py
@@ -14,7 +14,7 @@
kDrivetrain = drivetrain.DrivetrainParams(
J=6.0,
- mass=58.0,
+ mass=28.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.39,
wheel_radius=2.5 * 0.0254,