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/turret.py

diff --git a/y2017/control_loops/python/turret.py b/y2017/control_loops/python/turret.py
index 4bfa245..edd5b53 100755
--- a/y2017/control_loops/python/turret.py
+++ b/y2017/control_loops/python/turret.py
@@ -45,7 +45,8 @@
 
     # Moment of inertia, measured in CAD.
     # Extra mass to compensate for friction is added on.
-    self.J = 0.05 + self.motor_inertia * ((1.0 / self.G) ** 2.0)
+    self.J = 0.06 + self.motor_inertia * ((1.0 / self.G) ** 2.0)
+    glog.info('Turret J is: %f', self.J)
 
     # Control loop time step
     self.dt = 0.005