Add constants
- Updated constants to correct values.
Change-Id: I62c7678e638cd0564605bc0824909532fc1bc854
diff --git a/y2017/control_loops/python/hood.py b/y2017/control_loops/python/hood.py
index 376a22a..6ab8072 100755
--- a/y2017/control_loops/python/hood.py
+++ b/y2017/control_loops/python/hood.py
@@ -43,7 +43,7 @@
# Third axle gear ratio off the motor
self.G3 = self.G2 * (14.0 / 36.0)
# The last gear reduction (encoder -> hood angle)
- self.last_G = (18.0 / 345.0)
+ self.last_G = (20.0 / 345.0)
# Gear ratio
self.G = (12.0 / 60.0) * (14.0 / 36.0) * (14.0 / 36.0) * self.last_G
diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index a5088cb..4797600 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -34,8 +34,8 @@
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 / 48.0) * (24.0 / 36.0) * (16.0 / 72.0)
- self.G_outer = (12.0 / 48.0) * (18.0 / 48.0) * (30.0 / 422.0)
+ 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)
# Motor inertia in kg * m^2
self.motor_inertia = 0.000006