unbroke the shooter (and other?) control loops
diff --git a/frc971/control_loops/claw/claw_motor_plant.h b/frc971/control_loops/claw/claw_motor_plant.h
index 76e3fe7..1e21dc5 100644
--- a/frc971/control_loops/claw/claw_motor_plant.h
+++ b/frc971/control_loops/claw/claw_motor_plant.h
@@ -5,6 +5,8 @@
namespace frc971 {
namespace control_loops {
+static constexpr double kClawMomentOfInertiaRatio = 0.933333;
+
StateFeedbackPlantCoefficients<4, 2, 2> MakeClawPlantCoefficients();
@@ -14,8 +16,6 @@
StateFeedbackLoop<4, 2, 2> MakeClawLoop();
-const double kClawMomentOfInertiaRatio = 0.933333;
-
} // namespace control_loops
} // namespace frc971
diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index bc1001d..b5ea6a1 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -480,6 +480,8 @@
else:
claw = Claw("Claw")
loop_writer = control_loop.ControlLoopWriter("Claw", [claw])
+ loop_writer.AddConstant(control_loop.Constant("kClawMomentOfInertiaRatio",
+ "%f", claw.J_top / claw.J_bottom))
if argv[1][-3:] == '.cc':
loop_writer.Write(argv[2], argv[1])
else:
diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index a103c79..c3dd23e 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -114,10 +114,6 @@
fd.write('%s Make%sLoop();\n\n' %
(self._LoopType(), self._gain_schedule_name))
- fd.write('const double k%sMomentOfInertiaRatio = %f;\n\n' %
- (self._gain_schedule_name,
- self._loops[0].J_top / self._loops[0].J_bottom))
-
fd.write(self._namespace_end)
fd.write('\n\n')
fd.write("#endif // %s\n" % header_guard)