commit f4e4267e60f461540b9a4a3b97a63bd49495080c
author Mirabel Wang <mirabel.17.wang@gmail.com> Sat Oct 14 13:12:49 2023 -0700
committer Mirabel Wang <mirabel.17.wang@gmail.com> Sat Oct 14 13:23:14 2023 -0700
tree 356e1fa29568301d8db267e373c6a9fcaa3b1254
parent 0af59c0fa2b93b42476faf7a8536a877b2d3709f

Update y2023_bot3 drivetrain

Signed-off-by: Mirabel Wang <mirabel.17.wang@gmail.com>
Change-Id: Id0adc8cc33b4c40096b10810350a2f539dd98ca2

y2023_bot3/control_loops/python/drivetrain.py

diff --git a/y2023_bot3/control_loops/python/drivetrain.py b/y2023_bot3/control_loops/python/drivetrain.py
index 3d4469b..26cb043 100644
--- a/y2023_bot3/control_loops/python/drivetrain.py
+++ b/y2023_bot3/control_loops/python/drivetrain.py
@@ -14,14 +14,14 @@
 
 # TODO(max): Change constants based on robot / CAD
 kDrivetrain = drivetrain.DrivetrainParams(
-    J=6.5,
-    mass=68.0,
+    J=2.2,
+    mass=44.7,
     # TODO(austin): Measure radius a bit better.
-    robot_radius=0.39,
+    robot_radius=0.25,
     wheel_radius=2.5 * 0.0254,
     motor_type=control_loop.Falcon(),
-    num_motors=3,
-    G=(14.0 / 52.0) * (26.0 / 58.0),
+    num_motors=2,
+    G=(14.0 / 68.0) * (30.0 / 54.0),
     q_pos=0.24,
     q_vel=2.5,
     efficiency=0.92,