commit 2593385ae3b5daa9c61d3d22b2b69ddeefe46c7e
author Austin Schuh <austin@peloton-tech.com> Sun Feb 23 02:04:13 2014 -0800
committer Austin Schuh <austin@peloton-tech.com> Sun Feb 23 02:04:13 2014 -0800
tree 5df2103e280c12c0ea19e98c69067c228c1aaa64
parent ee02405c87c015c33f891589cfa4d75065ccb75f

Fixed constants and moved them out of control_loop.py

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 51ce0ff..bda178e 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -10,7 +10,7 @@
         self.formatToType['%f'] = "double";
         self.formatToType['%d'] = "int";
     def __str__ (self):
-        return str("\nstatic const %s %s = "+ self.formatt +";\n") % \
+        return str("\nstatic constexpr %s %s = "+ self.formatt +";\n") % \
             (self.formatToType[self.formatt], self.name, self.value)
 
 
@@ -39,9 +39,14 @@
         ['}  // namespace %s' % name for name in reversed(self._namespaces)])
     
     self._constant_list = []
-    if (write_constants):
-        self._constant_list.append(Constant("kMaxExtension", "%f", 0.32385));
-        self._constant_list.append(Constant("kSpringConstant", "%f", 0.28));
+
+  def AddConstant(self, constant):
+    """Adds a constant to write.
+
+    Args:
+      constant: Constant, the constant to add to the header.
+    """
+    self._constant_list.append(constant)
 
   def _TopDirectory(self):
     return self._namespaces[0]

frc971/control_loops/python/shooter.py

diff --git a/frc971/control_loops/python/shooter.py b/frc971/control_loops/python/shooter.py
index 6b8c224..69f2599 100755
--- a/frc971/control_loops/python/shooter.py
+++ b/frc971/control_loops/python/shooter.py
@@ -30,6 +30,9 @@
     self.Kt = self.stall_torque / self.stall_current
     # Spring constant for the springs, N/m
     self.Ks = 2800.0
+    # Maximum extension distance (Distance from the 0 force point on the
+    # spring to the latch position.)
+    self.max_extension = 0.32385
     # Gear ratio multiplied by radius of final sprocket.
     self.G = 10.0 / 40.0 * 20.0 / 54.0 * 24.0 / 54.0 * 20.0 / 84.0 * 16.0 * (3.0 / 8.0) / (2.0 * numpy.pi) * 0.0254
 
@@ -236,8 +239,12 @@
     sprung_shooter = SprungShooterDeltaU()
     shooter = ShooterDeltaU()
     loop_writer = control_loop.ControlLoopWriter("Shooter", [sprung_shooter,
-                                                             shooter],
-                                                             write_constants=True)
+                                                             shooter])
+
+    loop_writer.AddConstant(control_loop.Constant("kMaxExtension", "%f",
+                                                  sprung_shooter.max_extension))
+    loop_writer.AddConstant(control_loop.Constant("kSpringConstant", "%f",
+                                                  sprung_shooter.Ks))
     if argv[1][-3:] == '.cc':
       loop_writer.Write(argv[2], argv[1])
     else: