| commit | 47a0ee1f0190ba2acd092f9f2dd0c6ecca9738df | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Mon Jan 21 16:01:32 2019 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Jan 26 10:58:36 2019 -0800 |
| tree | 1fc4d16cb558bc0f82b73149bcec30548a9c1d3e | |
| parent | 2e554035dfd6929d351f4ebc02dcd5378dda1e5b [diff] [blame] |
Add python model for 2019 wrist Need to tune the mass for real though. Change-Id: I4e4431f99e1ad19bab97acd097fb8ad32d524019
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py index 74cd389..9aa00df 100644 --- a/frc971/control_loops/python/control_loop.py +++ b/frc971/control_loops/python/control_loop.py
@@ -587,6 +587,8 @@ self.Kv = (self.free_speed / (12.0 - self.resistance * self.free_current)) # Torque constant (N * m / A) self.Kt = self.stall_torque / self.stall_current + # Motor inertia in kg m^2 + self.motor_inertia = 0.000006 class MN3510(object): def __init__(self):