| commit | e6a9fdf2f325fa81992bb15a64ad27dba8f44da6 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Jan 12 16:05:43 2019 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Jan 12 16:07:11 2019 -0800 |
| tree | 2eb941373a550551315c0e5e137d393a02674ba8 | |
| parent | 331a22355dacb7e361abe433aa7ef1217dedfd48 [diff] [blame] |
Add J and Mass to drivetrain_config They are needed for trajectory planning. Change-Id: I8daf4303fee347af77567b20078f597354ba2472
diff --git a/frc971/control_loops/drivetrain/drivetrain_config.h b/frc971/control_loops/drivetrain/drivetrain_config.h index c4652be..88547d5 100644 --- a/frc971/control_loops/drivetrain/drivetrain_config.h +++ b/frc971/control_loops/drivetrain/drivetrain_config.h
@@ -72,6 +72,10 @@ Scalar high_gear_ratio; Scalar low_gear_ratio; + // Moment of inertia and mass. + Scalar J; + Scalar mass; + // Hall effect constants. Unused if not applicable to shifter type. constants::ShifterHallEffect left_drive; constants::ShifterHallEffect right_drive;