Tune drivetrain controller
Sigh, no IMU, and the gear ratio was wrong.
Change-Id: Ica4f037c2307daae891b45a651592400b57bdf1b
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/python/drivetrain.py b/y2023/control_loops/python/drivetrain.py
index 05739fc..9d2b006 100644
--- a/y2023/control_loops/python/drivetrain.py
+++ b/y2023/control_loops/python/drivetrain.py
@@ -14,17 +14,17 @@
kDrivetrain = drivetrain.DrivetrainParams(
J=6.5,
- mass=58.0,
+ mass=68.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.39,
wheel_radius=2.5 * 0.0254,
motor_type=control_loop.Falcon(),
num_motors=3,
- G=(14.0 / 54.0) * (22.0 / 56.0),
+ G=(14.0 / 52.0) * (26.0 / 58.0),
q_pos=0.24,
q_vel=2.5,
- efficiency=0.75,
- has_imu=True,
+ efficiency=0.92,
+ has_imu=False,
force=True,
kf_q_voltage=1.0,
controller_poles=[0.82, 0.82])