style(thrust): Config matrix grid spacing

CabrilloRoboticsClub · Nov 17, 2023 · 903bd0e · 903bd0e
1 parent 8bce7db
commit 903bd0e
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/seahawk/seahawk_deck/thrust.py b/src/seahawk/seahawk_deck/thrust.py
@@ -43,12 +43,12 @@ def __init__(self):
         super().__init__('thrust')
 
         self.motor_config = [
-            [0, 0, 0, 0, 0.7071, 0.7071, -0.7071, -0.7071], 
-            [0, 0, 0, 0, -0.7071, 0.7071, -0.7071, 0.7071], 
-            [1, 1, 1, 1, 0, 0, 0, 0],
-            [-.19, -.19, .19, .19, -.105, -.105, .105, .105],
-            [-.12, .12, -.12, .12, -.15, .15, -.15, .15],
-            [-.047,-.047,-.047, -.047, 0.038, 0.038, 0.038, 0.038]
+            [      0,      0,      0,      0,  0.7071,  0.7071, -0.7071, -0.7071 ],  # Fx
+            [      0,      0,      0,      0, -0.7071,  0.7071, -0.7071,  0.7071 ],  # Fy
+            [      1,      1,      1,      1,       0,       0,       0,       0 ],  # Fz
+            [  -0.19,  -0.19,   0.19,   0.19,  -0.105,  -0.105,   0.105,   0.105 ],  # Rx (mm)
+            [  -0.12,   0.12,  -0.12,   0.12,   -0.15,    0.15,   -0.15,    0.15 ],  # Ry (mm)
+            [ -0.047, -0.047, -0.047, -0.047,   0.038,   0.038,   0.038,   0.038 ],  # Rz (mm)
         ]
         self.inverse_config = np.linalg.pinv(self.motor_config, rcond=1e-15, hermitian=False)