commit fbceb1ca498ae16a39382294fdf98dd53f3ed1d2
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 22:10:57 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree cfa99611644bf205af62c21181b067e15d09c382
parent d5ccb8667ac54a10189b455ad0d3786c5cb87779

Calibrated the hood, indexer and drivetrain

Change-Id: I83f1043a0131f9c4dc414b88325667afc3ee514b

y2017/control_loops/python/indexer.py

diff --git a/y2017/control_loops/python/indexer.py b/y2017/control_loops/python/indexer.py
index f6a2379..702e66e 100755
--- a/y2017/control_loops/python/indexer.py
+++ b/y2017/control_loops/python/indexer.py
@@ -54,6 +54,7 @@
         self.J_inner * self.G_inner * self.G_inner +
         self.J_outer * self.G_outer * self.G_outer) / (self.G_inner * self.G_inner) + \
         self.motor_inertia * ((1.0 / self.G_inner) ** 2.0)
+    glog.debug('Indexer J is %f', self.J)
     self.G = self.G_inner
 
     # Resistance of the motor, divided by 2 to account for the 2 motors