commit e8ca06af66574fcb09449ab1b4b71fb75c029496
author Austin Schuh <austin.linux@gmail.com> Sat Mar 07 22:27:39 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 08 16:15:13 2020 -0700
tree 8b294c08a05ac4082e5288068407f4bafb346eb3
parent ce9bc28306d8da81afcf441c6ba4b9e61d7db7dc

Add a current limit on the flywheels.

We were blowing breakers.  Limit the request to do better.

Change-Id: Ibd59d9c54e02991070d0d68f42eb33c29c3a4132

y2020/control_loops/python/flywheel.py

diff --git a/y2020/control_loops/python/flywheel.py b/y2020/control_loops/python/flywheel.py
index 451788a..f284450 100755
--- a/y2020/control_loops/python/flywheel.py
+++ b/y2020/control_loops/python/flywheel.py
@@ -295,6 +295,18 @@
     loop_writer.AddConstant(
         control_loop.Constant('kFreeSpeed', '%f',
                               flywheels[0].motor.free_speed))
+    loop_writer.AddConstant(
+        control_loop.Constant(
+            'kBemf',
+            '%f',
+            flywheels[0].motor.Kv * flywheels[0].G,
+            comment="// Radians/sec / volt"))
+    loop_writer.AddConstant(
+        control_loop.Constant(
+            'kResistance',
+            '%f',
+            flywheels[0].motor.resistance,
+            comment="// Ohms"))
     loop_writer.Write(plant_files[0], plant_files[1])
 
     integral_loop_writer = control_loop.ControlLoopWriter(