commit fafdd93d7d4c504cf098bb235c7bb22208b4eb70
author Austin Schuh <austin.linux@gmail.com> Sun Apr 09 17:03:36 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 09 20:03:13 2023 -0700
tree 30d24b0d7cbbad8d3d0d876e3bd0e3ca0cea3499
parent ec433e1ccf814ce4eef44d312a85f46d767075d2

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>

y2022_bot3/control_loops/python/drivetrain.py

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])