| commit | 367d8e598a373e7489bdf60308ecbdf5d65e7a6e | [log] [tgz] |
|---|---|---|
| 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 [diff] [blame] |
Update shoulder sprocket gear ratios. Change-Id: Ie8a7442c54d6b77f41925cd590712435847d5f31
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