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.