commit 0da1d70fd5cd8e69201f573b36ca24f5ca1ab115
author Brian Silverman <bsilver16384@gmail.com> Sat Mar 05 18:14:36 2016 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sat Mar 05 18:14:36 2016 -0800
tree d6a9b2ac5497d87dccbdf39ffef3006af7104558
parent b6a2236523aacda188cf973e83d8dfe6c54286ca
parent 367d8e598a373e7489bdf60308ecbdf5d65e7a6e

Merge "Update shoulder sprocket gear ratios."

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