commit c1c957aca2bdb353493a35001819b5dd87df0db7
author Austin Schuh <austin.linux@gmail.com> Thu Feb 20 17:47:58 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Thu Feb 20 20:08:48 2020 -0800
tree 9382feaf65241e20cc2e076e363a2314c6456e31
parent c1c28b8f71c1ba7ad051e676b347580b0a15f920

Update python models to have accurate constants

This should bring the python models all up to date.  Thanks Sarah for
pulling some of these out of the CAD.

Change-Id: I948685629b8d6835dccd72e623bf110525cb4254

y2020/control_loops/python/turret.py

diff --git a/y2020/control_loops/python/turret.py b/y2020/control_loops/python/turret.py
index 58ea7d8..dd2244d 100644
--- a/y2020/control_loops/python/turret.py
+++ b/y2020/control_loops/python/turret.py
@@ -21,10 +21,8 @@
 kTurret = angular_system.AngularSystemParams(
     name='Turret',
     motor=control_loop.Vex775Pro(),
-    #TODO: Update Gear Ratios when they are ready
-    G=(6.0 / 60.0) * (20.0 / 100.0) * (24.0 / 84.0),
-    #TODO: Get number from Bryan (moment of inertia)
-    J=0.30,
+    G=(6.0 / 60.0) * (26.0 / 150.0),
+    J=0.11,
     q_pos=0.20,
     q_vel=5.0,
     kalman_q_pos=0.12,