commit 1337e914d606975746fa3a0847ea5b6d50f899dc
author Austin Schuh <austin.linux@gmail.com> Thu Feb 07 21:28:44 2019 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Thu Feb 07 21:28:44 2019 -0800
tree c893aa876a25f5e82b9def4b35d8fb456dc0ab79
parent 17cb48984aebfcc367d5c1f39e58fe5dbe2414b3
parent 8d8ac0a7bb3776a9ea0b6e8c49b497afb6cc7689

Merge "Added AbsoluteEncoder alone to wpilib."

frc971/control_loops/python/angular_system.py

diff --git a/frc971/control_loops/python/angular_system.py b/frc971/control_loops/python/angular_system.py
index 8d375f8..a31390a 100755
--- a/frc971/control_loops/python/angular_system.py
+++ b/frc971/control_loops/python/angular_system.py
@@ -371,6 +371,10 @@
     angular_system = AngularSystem(params, params.name)
     loop_writer = control_loop.ControlLoopWriter(
         angular_system.name, [angular_system], namespaces=year_namespaces)
+    loop_writer.AddConstant(
+        control_loop.Constant('kOutputRatio', '%f', angular_system.G))
+    loop_writer.AddConstant(
+        control_loop.Constant('kFreeSpeed', '%f', angular_system.motor.free_speed))
     loop_writer.Write(plant_files[0], plant_files[1])
 
     integral_angular_system = IntegralAngularSystem(params,