Finish the pistol grip code
Change-Id: I95c03a95ac0ec64b4314ec310ad6535176b1d529
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 82d138a..f88a5f2 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -535,3 +535,19 @@
self.Kv = (self.free_speed / (12.0 - self.resistance * self.free_current))
# Torque constant (N * m / A)
self.Kt = self.stall_torque / self.stall_current
+
+class MN3510(object):
+ def __init__(self):
+ # http://www.robotshop.com/en/t-motor-navigator-mn3510-360kv-brushless-motor.html#Specifications
+ # Free Current in Amps
+ self.free_current = 0.0
+ # Resistance of the motor
+ self.resistance = 0.188
+ # Stall Current in Amps
+ self.stall_current = 14.0 / self.resistance
+ # Motor velocity constant
+ self.Kv = 360.0 / 60.0 * (2.0 * numpy.pi)
+ # Torque constant Nm / A
+ self.Kt = 1.0 / self.Kv
+ # Stall Torque in N m
+ self.stall_torque = self.Kt * self.stall_current