Add MiniCIM as a motor type
Change-Id: If0eb9b68a02e139fd4997c3e498f6b8dc5419d13
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index 900c06f..c2fe755 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -493,3 +493,21 @@
self.Kv = (self.free_speed / (12.0 - self.resistance * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
+
+
+class MiniCIM(object):
+ def __init__(self):
+ # Stall Torque in N m
+ self.stall_torque = 1.41
+ # Stall Current in Amps
+ self.stall_current = 89.0
+ # Free Speed in rad/s
+ self.free_speed = 5840.0 / 60.0 * 2.0 * numpy.pi
+ # Free Current in Amps
+ self.free_current = 3.0
+ # Resistance of the motor
+ self.resistance = 12.0 / self.stall_current
+ # Motor velocity constant
+ self.Kv = (self.free_speed / (12.0 - self.resistance * self.free_current))
+ # Torque constant
+ self.Kt = self.stall_torque / self.stall_current