| commit | d28c0025e7b9022c1dfe67f8e6840baa84e0c428 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Mar 25 16:20:31 2023 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Apr 05 19:57:04 2023 -0700 |
| tree | c469b89e8f62854257185e932c46f13b4dbaf4cd | |
| parent | 782d67b361d5c8dfa0c1d46b019955789d488bb4 [diff] [blame] |
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/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,