commit 8683f43fc1b4180f682a2c18ac9480411ce194c5
author Ed Jordan <ed@ed-jordan.com> Sun Feb 12 00:13:26 2017 +0000
committer Ed Jordan <ed@ed-jordan.com> Sun Feb 12 00:13:26 2017 +0000
tree 267bb2a13c94b62b4531ac4a15c9c55cc8fd44f1
parent 0991dca8b7d43d38400915ff892308ee787005ef

Add constants

- Updated constants to correct values.

Change-Id: I62c7678e638cd0564605bc0824909532fc1bc854

y2017/control_loops/python/indexer.py

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