Drivetrain now kind of works.
Change-Id: Ib8a518f849553949fff1095421cef1fd6f977f44
diff --git a/y2018/control_loops/python/drivetrain.py b/y2018/control_loops/python/drivetrain.py
index b630601..988ac74 100644
--- a/y2018/control_loops/python/drivetrain.py
+++ b/y2018/control_loops/python/drivetrain.py
@@ -14,28 +14,32 @@
#robot radius needs confirming(set as distance of center wheels from each other)
#J needs updating
-kDrivetrain = drivetrain.DrivetrainParams(J = 2.0,
- mass = 54.4311,
- robot_radius = 0.675 / 2.0,
- wheel_radius = 0.127 / 2.0,
- G_low = 46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0 ,
- G_high = 62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
- q_pos_low = 0.12,
- q_pos_high = 0.14,
- q_vel_low = 1.0,
- q_vel_high = 0.95)
+kDrivetrain = drivetrain.DrivetrainParams(
+ J=2.5,
+ mass=68.0,
+ robot_radius=0.616 / 2.0,
+ wheel_radius=0.127 / 2.0,
+ G_low=46.0 / 60.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ G_high=62.0 / 44.0 * 20.0 / 48.0 * 14.0 / 62.0,
+ q_pos_low=0.12,
+ q_pos_high=0.14,
+ q_vel_low=1.0,
+ q_vel_high=0.95,
+ controller_poles=[0.82, 0.82],
+)
+
def main(argv):
- argv = FLAGS(argv)
- glog.init()
+ argv = FLAGS(argv)
+ glog.init()
- if FLAGS.plot:
- drivetrain.PlotDrivetrainMotions(kDrivetrain)
- elif len(argv) != 5:
- print "Expected .h file name and .cc file name"
- else:
- # Write the generated constants out to a file.
- drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
+ if FLAGS.plot:
+ drivetrain.PlotDrivetrainMotions(kDrivetrain)
+ elif len(argv) != 5:
+ print "Expected .h file name and .cc file name"
+ else:
+ # Write the generated constants out to a file.
+ drivetrain.WriteDrivetrain(argv[1:3], argv[3:5], 'y2018', kDrivetrain)
if __name__ == '__main__':
- sys.exit(main(sys.argv))
+ sys.exit(main(sys.argv))