commit b6a2236523aacda188cf973e83d8dfe6c54286ca
author Comran Morshed <comranmorsh@gmail.com> Sat Mar 05 14:14:32 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Sat Mar 05 15:15:48 2016 +0000
tree a655d4a7583538a111b25e83a663b1a705468894
parent 4dc33d740b5a76e66a7fd23dc0daf1385d13b946

Update new intake J and double-check new ratios.

I did the moment of inertia calculation by hand (modeling parts as disks
and rings) and through Solidworks. Both answers were within 0.05 kg m^2 of each
other. J that I used was taken from Solidworks.

Change-Id: Ifd7c739ffca46d446e127eed5165be1c8e95a464

y2016/control_loops/python/intake.py

diff --git a/y2016/control_loops/python/intake.py b/y2016/control_loops/python/intake.py
index 1fcf393..63cc0f4 100755
--- a/y2016/control_loops/python/intake.py
+++ b/y2016/control_loops/python/intake.py
@@ -40,10 +40,9 @@
     # Gear ratio
     self.G = (56.0 / 12.0) * (54.0 / 14.0) * (64.0 / 18.0) * (48.0 / 16.0)
 
-    # Measured in CAD
-    # self.J = 0.9
-    # With extra mass to compensate for friction.
-    self.J = 1.2
+    # Moment of inertia, measured in CAD.
+    # Extra mass to compensate for friction is added on.
+    self.J = 0.34 + 0.1
 
     # Control loop time step
     self.dt = 0.005