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/y2019/control_loops/python/intake.py b/y2019/control_loops/python/intake.py
index 97f8880..d1c5710 100755
--- a/y2019/control_loops/python/intake.py
+++ b/y2019/control_loops/python/intake.py
@@ -20,7 +20,7 @@
kIntake = angular_system.AngularSystemParams(
name='Intake',
motor=control_loop.BAG(),
- G=(1.0 / 9.0) * (1.0 / 9.0) * (16.0 / 38.0),
+ G=(1.0 / 7.0) * (1.0 / 4.0) * (1.0 / 4.0)* (18.0 / 38.0),
# TODO(austin): Pull moments of inertia from CAD when it's done.
J=0.8,
q_pos=0.20,