commit 44a93bcec7ab47407cb518878545040b1b9626d7
author Austin Schuh <austin.linux@gmail.com> Sat Mar 05 19:44:26 2016 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sat Mar 05 19:44:26 2016 -0800
tree ca2647d7bcc7acf022b29698953fc73a47f0fd38
parent d3e139cf0f3d1c6d628c9de57406770ce92a5033
parent e8e09ba304cf8ae13b60e40bf453405cf82c2c8f

Merge "Autogen rule written for 'claw' module."

aos/common/controls/control_loop_test.cc

diff --git a/aos/common/controls/control_loop_test.cc b/aos/common/controls/control_loop_test.cc
index ecaafab..44af93a 100644
--- a/aos/common/controls/control_loop_test.cc
+++ b/aos/common/controls/control_loop_test.cc
@@ -51,8 +51,8 @@
     new_state->voltage_3v3 = 3.3;
     new_state->voltage_5v = 5.0;
 
-    new_state->voltage_roborio_in = 12.4;
-    new_state->voltage_battery = 12.4;
+    new_state->voltage_roborio_in = battery_voltage_;
+    new_state->voltage_battery = battery_voltage_;
 
     new_state.Send();
   }

aos/common/controls/control_loop_test.h

diff --git a/aos/common/controls/control_loop_test.h b/aos/common/controls/control_loop_test.h
index 4ab4774..14fdd60 100644
--- a/aos/common/controls/control_loop_test.h
+++ b/aos/common/controls/control_loop_test.h
@@ -41,6 +41,11 @@
     ++reader_pid_;
   }
 
+  // Sets the battery voltage in robot_state.
+  void set_battery_voltage(double battery_voltage) {
+    battery_voltage_ = battery_voltage;
+  }
+
  private:
   static constexpr ::aos::time::Time kTimeTick = ::aos::time::Time::InUS(5000);
   static constexpr ::aos::time::Time kDSPacketTime =
@@ -48,6 +53,7 @@
 
   uint16_t team_id_ = 971;
   int32_t reader_pid_ = 1;
+  double battery_voltage_ = 12.4;
 
   ::aos::time::Time last_ds_time_ = ::aos::time::Time::InSeconds(0);
   ::aos::time::Time current_time_ = ::aos::time::Time::InSeconds(0);

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 98d38c7..d9ae7c4 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -35,7 +35,7 @@
   static constexpr double kIntakeEncoderRatio =
       16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kShoulderEncoderRatio =
-      16.0 / 58.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kWristEncoderRatio =
       16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
 

y2016/control_loops/python/intake.py

diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index 1fcf393..63cc0f4 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -40,10 +40,9 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    # Measured in CAD
-    # self.J = 0.9
-    # With extra mass to compensate for friction.
-    self.J = 1.2
+    # Moment of inertia, measured in CAD.
+    # Extra mass to compensate for friction is added on.
+    self.J = 0.34 + 0.1
 
     # Control loop time step
     self.dt = 0.005

y2016/control_loops/python/shoulder.py

diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 9b70dbd..07a67f6 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -37,7 +37,7 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratio
-    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (58.0 / 16.0)
+    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (42.0 / 12.0)
 
     self.J = 3.0