commit f70e8e112d2a2dc64381e0dcb315bff85e6e1f49
author milind-u <milind.upadhyay@gmail.com> Sat Oct 02 12:36:00 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Oct 02 20:55:02 2021 -0700
tree bafc986420fa26e81cf6a77404bfafce8ec5d944
parent 6ceb40e5daa44a0b2eecfb9d98791054d7ef23f7

Update turret gear ratio and tuned controller

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: Ibc6a255c866c77af7d909e311217398f3bf26135
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/python/control_loop.py

diff --git a/frc971/control_loops/python/control_loop.py b/frc971/control_loops/python/control_loop.py
index cea1fdd..72d3297 100644
--- a/frc971/control_loops/python/control_loop.py
+++ b/frc971/control_loops/python/control_loop.py
@@ -588,6 +588,9 @@
         # Torque constant
         self.Kt = self.stall_torque / self.stall_current
 
+        # Motor inertia in kg m^2
+        self.motor_inertia = 0.0001634
+
 
 class NMotor(object):
     def __init__(self, motor, n):