commit 10a8e31997b790fe8a47a2d6702b6a3e9a1a4cd9
author Adam Snaider <adsnaider@gmail.com> Sat Nov 26 15:02:35 2016 -0800
committer Adam Snaider <adsnaider@gmail.com> Sat Nov 26 15:14:42 2016 -0800
tree 01c16fa0f79b452eed1030e408107c9ead5d2e5a
parent f2be8e0253e1a0ca19117a04725eafed61339c32

Many functional systems in one commit.

Added intake roller functionality. Changed range constants to match
the physical limits of the robot. Zeroed the intake. Tuned drive and
changed gear ratio. Set up joystick reader to match the joystick
buttons. Lastly, I configured WPIlib to have 4 talons in the drivetrain (two for
the right side and two for the left side).

Change-Id: I78a09784eeef218dcd98d81ed302800e1350e5f2

y2016_bot3/control_loops/python/intake.py

diff --git a/y2016_bot3/control_loops/python/intake.py b/y2016_bot3/control_loops/python/intake.py
index fa34063..4599cf7 100755
--- a/y2016_bot3/control_loops/python/intake.py
+++ b/y2016_bot3/control_loops/python/intake.py
@@ -38,7 +38,7 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratio
-    self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
+    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (48.0 / 15.0)
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.