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/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,