commit 0ad31d70e88f2c22ccc5916fc564707c63e49581
author Austin Schuh <austin.linux@gmail.com> Sat Mar 06 17:07:04 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 06 23:58:31 2021 -0800
tree 8df0f4a89d0ca4e37311a6f3f26a44ac99efa41d
parent 72a878df8e24108593c90ed2f116b895d982fb81

Make new single wheel finisher nominally work

We now have the new 2 motor, heavy flywheel.  Update the code to have
the new inertia and also have 2 separate PWM channels to control it.

Change-Id: I2b109a0560ff499729b34a5a7e23293add4aa57c

y2020/constants.h

diff --git a/y2020/constants.h b/y2020/constants.h
index e55a70b..f7d67e0 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -156,7 +156,7 @@
   static constexpr double kFinisherEncoderCountsPerRevolution() {
     return 2048.0;
   }
-  static constexpr double kFinisherEncoderRatio() { return 30.0 / 40.0; }
+  static constexpr double kFinisherEncoderRatio() { return 36.0 / 40.0; }
 
   static constexpr double kMaxFinisherEncoderPulsesPerSecond() {
     return control_loops::superstructure::finisher::kFreeSpeed / (2.0 * M_PI) *