Updated shooter constants with CAD model constants.
Change-Id: I9c8b03a73ba5cd1ce5920fa72d428c2b885e705c
diff --git a/y2016/control_loops/python/shooter.py b/y2016/control_loops/python/shooter.py
index e47add9..c81d597 100755
--- a/y2016/control_loops/python/shooter.py
+++ b/y2016/control_loops/python/shooter.py
@@ -9,24 +9,24 @@
def __init__(self):
super(Shooter, self).__init__("Shooter")
# Stall Torque in N m
- self.stall_torque = 0.49819248
+ self.stall_torque = 0.71
# Stall Current in Amps
- self.stall_current = 85
+ self.stall_current = 134
# Free Speed in RPM
- self.free_speed = 19300.0 - 1500.0
+ self.free_speed = 18730.0
# Free Current in Amps
- self.free_current = 1.4
+ self.free_current = 0.7
# Moment of inertia of the shooter wheel in kg m^2
- self.J = 0.0032
+ self.J = 0.00032
# Resistance of the motor, divided by 2 to account for the 2 motors
- self.R = 12.0 / self.stall_current / 2
+ self.R = 12.0 / self.stall_current
# Motor velocity constant
self.Kv = ((self.free_speed / 60.0 * 2.0 * numpy.pi) /
(12.0 - self.R * self.free_current))
# Torque constant
self.Kt = self.stall_torque / self.stall_current
# Gear ratio
- self.G = 11.0 / 34.0
+ self.G = 12.0 / 18.0
# Control loop time step
self.dt = 0.005