commit 546a0389bfe4e0db646c39d55e8352555f9b77c7
author Austin Schuh <austin.linux@gmail.com> Sun Apr 16 19:10:18 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun May 28 17:08:21 2017 -0700
tree 7495f45b37c6a5cd6be08d85f65b0dee62e2abc7
parent d85c66e12cae1c5b0738b841896cb0a45fb273ad

Adjusted indexer for the lower gearing.

Change-Id: Ia163de29c8c247f0490bdd26ff2f9ddf2c66bf09

y2017/control_loops/python/indexer.py

diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index 702e66e..53b856c 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -40,8 +40,8 @@
     self.J_inner = 0.0269
     self.J_outer = 0.0952
     # Gear ratios for the inner and outer parts.
-    self.G_inner = (12.0 / 48.0) * (18.0 / 36.0) * (12.0 / 84.0)
-    self.G_outer = (12.0 / 48.0) * (18.0 / 36.0) * (24.0 / 420.0)
+    self.G_inner = (12.0 / 48.0) * (20.0 / 34.0) * (18.0 / 36.0) * (12.0 / 84.0)
+    self.G_outer = (12.0 / 48.0) * (20.0 / 34.0) * (18.0 / 36.0) * (24.0 / 420.0)
 
     # Motor inertia in kg m^2
     self.motor_inertia = 0.00001187
@@ -332,7 +332,8 @@
         'IntegralIndexer', [integral_indexer], namespaces=namespaces)
     integral_loop_writer.Write(argv[3], argv[4])
 
-    stuck_integral_indexer = IntegralIndexer('StuckIntegralIndexer', voltage_error_noise=1.5)
+    stuck_integral_indexer = IntegralIndexer('StuckIntegralIndexer',
+                                             voltage_error_noise=1.5)
     stuck_integral_loop_writer = control_loop.ControlLoopWriter(
         'StuckIntegralIndexer', [stuck_integral_indexer], namespaces=namespaces)
     stuck_integral_loop_writer.Write(argv[5], argv[6])