commit 2bc345dca681f383972f89ec2496d1a28c672600
author suneel <100019607@mvla.net> Sat Feb 09 20:00:56 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 10 16:12:07 2019 -0800
tree bf1d290cd543a63e44132b9ca8ed88c822ec4d30
parent 7c473cbbae993761e3c491b699d6d3152d6da0a6

Added rotational/linear masses to python subsystem files.

Change-Id: I16c245771745409f04a53e3fc2d1a3f179ab67b8

y2019/control_loops/python/elevator.py

diff --git a/y2019/control_loops/python/elevator.py b/y2019/control_loops/python/elevator.py
index dd8b412..41c05c6 100755
--- a/y2019/control_loops/python/elevator.py
+++ b/y2019/control_loops/python/elevator.py
@@ -14,12 +14,15 @@
 except gflags.DuplicateFlagError:
     pass
 
+first_stage_mass = 0.7957
+carriage_mass = 2.754
+
 kElevator = linear_system.LinearSystemParams(
     name='Elevator',
     motor=control_loop.Vex775Pro(),
     G=(8.0 / 82.0),
     radius=2.25 * 0.0254 / 2.0,
-    mass=4.0,
+    mass=first_stage_mass + carriage_mass,
     q_pos=0.070,
     q_vel=1.2,
     kalman_q_pos=0.12,

y2019/control_loops/python/intake.py

diff --git a/y2019/control_loops/python/intake.py b/y2019/control_loops/python/intake.py
index d1c5710..2ac139b 100755
--- a/y2019/control_loops/python/intake.py
+++ b/y2019/control_loops/python/intake.py
@@ -21,8 +21,15 @@
     name='Intake',
     motor=control_loop.BAG(),
     G=(1.0 / 7.0) * (1.0 / 4.0) * (1.0 / 4.0)* (18.0 / 38.0),
-    # TODO(austin): Pull moments of inertia from CAD when it's done.
-    J=0.8,
+    # Suneel: Sampled moment of inertia at 6 different positions
+    # J = the average of the six.
+    # 1. 0.686
+    # 2. 0.637
+    # 3. 0.514
+    # 4. 0.332
+    # 5. 0.183
+    # 6. 0.149
+    J=0.3,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,

y2019/control_loops/python/stilts.py

diff --git a/y2019/control_loops/python/stilts.py b/y2019/control_loops/python/stilts.py
index 8faa5d4..b07321c 100755
--- a/y2019/control_loops/python/stilts.py
+++ b/y2019/control_loops/python/stilts.py
@@ -21,7 +21,7 @@
     # 5mm pitch, 18 tooth
     radius=0.005 * 18.0 / (2.0 * numpy.pi),
     # Or, 2.34 lb * 2 (2.1 kg) when lifting back up
-    mass=40.0,
+    mass=1.175 * 2,  # 1 stilt foot = 1.175 kg
     q_pos=0.070,
     q_vel=1.2,
     kalman_q_pos=0.12,

y2019/control_loops/python/wrist.py

diff --git a/y2019/control_loops/python/wrist.py b/y2019/control_loops/python/wrist.py
index 0229f6e..2e292a2 100755
--- a/y2019/control_loops/python/wrist.py
+++ b/y2019/control_loops/python/wrist.py
@@ -17,12 +17,18 @@
 except gflags.DuplicateFlagError:
     pass
 
+# Wrist alone
+#  0.1348
+# Wrist with ball
+#  0.3007
+# Wrist with hatch
+#  0.446
+
 kWrist = angular_system.AngularSystemParams(
     name='Wrist',
     motor=control_loop.BAG(),
     G=(6.0 / 60.0) * (20.0 / 100.0) * (24.0 / 84.0),
-    # TODO(austin): Pull moments of inertia from CAD when it's done.
-    J=0.34,
+    J=0.27,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,