Merge "Update drivetrain gearing and time step."
diff --git a/frc971/control_loops/python/drivetrain.py b/frc971/control_loops/python/drivetrain.py
index 1a1bbe7..c720558 100755
--- a/frc971/control_loops/python/drivetrain.py
+++ b/frc971/control_loops/python/drivetrain.py
@@ -28,7 +28,7 @@
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Control loop time step
- self.dt = 0.01
+ self.dt = 0.005
# State feedback matrices
self.A_continuous = numpy.matrix(
@@ -69,7 +69,7 @@
# Radius of the robot, in meters (from last year).
self.rb = 0.617998644 / 2.0
# Radius of the wheels, in meters.
- self.r = .04445
+ self.r = .0515938
# Resistance of the motor, divided by the number of motors.
self.R = 12.0 / self.stall_current / 4
# Motor velocity constant
@@ -78,8 +78,11 @@
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Gear ratios
- self.G_low = 18.0 / 60.0 * 18.0 / 50.0
- self.G_high = 28.0 / 50.0 * 18.0 / 50.0
+ self.G_const = 28.0 / 50.0 * 20.0 / 64.0
+
+ self.G_low = self.G_const
+ self.G_high = self.G_const
+
if left_low:
self.Gl = self.G_low
else:
@@ -88,9 +91,10 @@
self.Gr = self.G_low
else:
self.Gr = self.G_high
+
# Control loop time step
- self.dt = 0.01
-
+ self.dt = 0.005
+
# These describe the way that a given side of a robot will be influenced
# by the other side. Units of 1 / kg.
self.msp = 1.0 / self.m + self.rb * self.rb / self.J