commit fbceb1ca498ae16a39382294fdf98dd53f3ed1d2
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 22:10:57 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree cfa99611644bf205af62c21181b067e15d09c382
parent d5ccb8667ac54a10189b455ad0d3786c5cb87779

Calibrated the hood, indexer and drivetrain

Change-Id: I83f1043a0131f9c4dc414b88325667afc3ee514b

y2017/control_loops/python/drivetrain.py

diff --git a/y2017/control_loops/python/drivetrain.py b/y2017/control_loops/python/drivetrain.py
index e722c86..d2a389e 100755
--- a/y2017/control_loops/python/drivetrain.py
+++ b/y2017/control_loops/python/drivetrain.py
@@ -29,9 +29,9 @@
     # Free Current in Amps
     self.free_current = 4.7 * self.num_motors
     # Moment of inertia of the drivetrain in kg m^2
-    self.J = 2.0
+    self.J = 6.0
     # Mass of the robot, in kg.
-    self.m = 50
+    self.m = 52
     # Radius of the robot, in meters (requires tuning by hand)
     self.rb = 0.59055 / 2.0
     # Radius of the wheels, in meters.

y2017/control_loops/python/hood.py

diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 40d3473..d42620a 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -57,7 +57,7 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.08 + \
+    self.J = 0.08 + 1.1 + \
              self.big_gear_inertia * ((self.G1 / self.G) ** 2) + \
              self.big_gear_inertia * ((self.G2 / self.G) ** 2) + \
              self.motor_inertia * ((1.0 / self.G) ** 2.0)
@@ -94,8 +94,8 @@
     glog.debug(repr(self.A_continuous))
 
     # Calculate the LQR controller gain
-    q_pos = 0.05
-    q_vel = 10.0
+    q_pos = 0.006
+    q_vel = 0.30
     self.Q = numpy.matrix([[(1.0 / (q_pos ** 2.0)), 0.0],
                            [0.0, (1.0 / (q_vel ** 2.0))]])
 

y2017/control_loops/python/indexer.py

diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index f6a2379..702e66e 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -54,6 +54,7 @@
         self.J_inner * self.G_inner * self.G_inner +
         self.J_outer * self.G_outer * self.G_outer) / (self.G_inner * self.G_inner) + \
         self.motor_inertia * ((1.0 / self.G_inner) ** 2.0)
+    glog.debug('Indexer J is %f', self.J)
     self.G = self.G_inner
 
     # Resistance of the motor, divided by 2 to account for the 2 motors

y2017/control_loops/python/turret.py

diff --git a/y2017/control_loops/python/turret.py b/y2017/control_loops/python/turret.py
index 4bfa245..edd5b53 100755
--- a/y2017/control_loops/python/turret.py
+++ b/y2017/control_loops/python/turret.py
@@ -45,7 +45,8 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.05 + self.motor_inertia * ((1.0 / self.G) ** 2.0)
+    self.J = 0.06 + self.motor_inertia * ((1.0 / self.G) ** 2.0)
+    glog.info('Turret J is: %f', self.J)
 
     # Control loop time step
     self.dt = 0.005