Updated constants and wpilib_interface.
Updated wpilib_interface and the constants files to have the
superstructure components.
Updated the linear_system codegen to output free speed in radians.
Updated the intake python file with the correct gear ratio.
Created the superstructure plants.
Change-Id: I5a2b54fe3de8d9ae9b0f79820465a2f97baed22d
diff --git a/frc971/control_loops/python/linear_system.py b/frc971/control_loops/python/linear_system.py
index 322e41a..e1f55cc 100755
--- a/frc971/control_loops/python/linear_system.py
+++ b/frc971/control_loops/python/linear_system.py
@@ -379,10 +379,12 @@
linear_system.name, [linear_system], namespaces=year_namespaces)
loop_writer.AddConstant(
control_loop.Constant('kFreeSpeed', '%f', linear_system.motor.
- free_speed / (2.0 * numpy.pi)))
+ free_speed))
loop_writer.AddConstant(
control_loop.Constant('kOutputRatio', '%f', linear_system.G *
linear_system.radius))
+ loop_writer.AddConstant(
+ control_loop.Constant('kRadius', '%f', linear_system.radius))
loop_writer.Write(plant_files[0], plant_files[1])
integral_linear_system = IntegralLinearSystem(params,