commit e70cdebdc13b1490ca7eace869dacabb70fa4602
author Austin Schuh <austin.linux@gmail.com> Thu Feb 23 21:45:00 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Feb 23 21:45:00 2023 -0800
tree c81fec89dbcf9be3d7fe6d7c8143d13e4509b26e
parent 6d59ffb55e4a5f9b8da34c05363708a5ee5ad0cc

Tune 2023 drivetrain currents and inertias

Change-Id: Ic7cf8c453443c49749a3f2eb3371f54b3489d027
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/control_loops/python/drivetrain.py

diff --git a/y2023/control_loops/python/drivetrain.py b/y2023/control_loops/python/drivetrain.py
index 863684c..05739fc 100644
--- a/y2023/control_loops/python/drivetrain.py
+++ b/y2023/control_loops/python/drivetrain.py
@@ -13,7 +13,7 @@
 gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
 
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=6.0,
+    J=6.5,
     mass=58.0,
     # TODO(austin): Measure radius a bit better.
     robot_radius=0.39,
@@ -23,7 +23,7 @@
     G=(14.0 / 54.0) * (22.0 / 56.0),
     q_pos=0.24,
     q_vel=2.5,
-    efficiency=0.80,
+    efficiency=0.75,
     has_imu=True,
     force=True,
     kf_q_voltage=1.0,