Fixed constants and moved them out of control_loop.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: