commit 367d8e598a373e7489bdf60308ecbdf5d65e7a6e
author Comran Morshed <comranmorsh@gmail.com> Sat Mar 05 14:45:47 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Sat Mar 05 14:47:53 2016 +0000
tree 207e3ad2a1b9dcb24d50ec8f6948726ec8a3c337
parent 4dc33d740b5a76e66a7fd23dc0daf1385d13b946

Update shoulder sprocket gear ratios.

Change-Id: Ie8a7442c54d6b77f41925cd590712435847d5f31

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 98d38c7..d9ae7c4 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -35,7 +35,7 @@
   static constexpr double kIntakeEncoderRatio =
       16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kShoulderEncoderRatio =
-      16.0 / 58.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
   static constexpr double kWristEncoderRatio =
       16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
 

y2016/control_loops/python/shoulder.py

diff --git a/y2016/control_loops/python/shoulder.py b/y2016/control_loops/python/shoulder.py
index 9b70dbd..07a67f6 100755
--- a/y2016/control_loops/python/shoulder.py
+++ b/y2016/control_loops/python/shoulder.py
@@ -37,7 +37,7 @@
     # Torque constant
     self.Kt = self.stall_torque / self.stall_current
     # Gear ratio
-    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (58.0 / 16.0)
+    self.G = (56.0 / 12.0) * (64.0 / 14.0) * (72.0 / 18.0) * (42.0 / 12.0)
 
     self.J = 3.0