Add single speed robot option to DrivetrainParams
It just forces high and low to have the same ratio, but then we can
change this in the future easier.
Change-Id: I7011703d5f0800638bc285d9da75b03342bc602c
diff --git a/motors/seems_reasonable/drivetrain.py b/motors/seems_reasonable/drivetrain.py
index dfa2f16..f4a5094 100644
--- a/motors/seems_reasonable/drivetrain.py
+++ b/motors/seems_reasonable/drivetrain.py
@@ -15,8 +15,11 @@
wheel_radius=0.127 / 2.0 * 120.0 / 118.0,
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,
- controller_poles=[0.82, 0.82],
-)
+ 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):