Enable closed loop mode and dual PWM outputs on D bot
We got a wiring update to make it drive better, and to remove some wago
connectors.
Change-Id: I046ee459a7b38fa50b9e8bb919154954bc9968b4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
index 8fd6d94..a97e0dd 100644
--- a/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022_bot3/control_loops/drivetrain/drivetrain_base.cc
@@ -27,7 +27,7 @@
static constexpr double kImuYaw = 0.0;
static DrivetrainConfig<double> kDrivetrainConfig{
::frc971::control_loops::drivetrain::ShifterType::SIMPLE_SHIFTER,
- ::frc971::control_loops::drivetrain::LoopType::OPEN_LOOP,
+ ::frc971::control_loops::drivetrain::LoopType::CLOSED_LOOP,
::frc971::control_loops::drivetrain::GyroType::SPARTAN_GYRO,
::frc971::control_loops::drivetrain::IMUType::IMU_FLIPPED_X,
diff --git a/y2022_bot3/control_loops/python/drivetrain.py b/y2022_bot3/control_loops/python/drivetrain.py
index 638b3f3..7db0a05 100644
--- a/y2022_bot3/control_loops/python/drivetrain.py
+++ b/y2022_bot3/control_loops/python/drivetrain.py
@@ -24,7 +24,7 @@
q_pos=0.24,
q_vel=2.5,
efficiency=0.80,
- has_imu=True,
+ has_imu=False,
force=True,
kf_q_voltage=1.0,
controller_poles=[0.82, 0.82])