commit 00c730d45e241e494d8c22b52340769ea9a83a9a
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Dec 14 20:29:53 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Wed Dec 14 21:30:21 2022 -0700
tree 94b2097c52b64f531358b057ebb15e3d2bcabe5d
parent 7fdbd66e319a465d1b2c3871cd89dc55d7d7900d

Revert "Added units per volt ratio constants"

This reverts commit 7fdbd66e319a465d1b2c3871cd89dc55d7d7900d.

Reason for revert: Breaks master

Change-Id: I6b82ba68b9f58162474b7431ad50f898b98d8a70
Signed-off-by: jabukuszmaul+collab@gmail.com

y2022/wpilib_interface.cc

diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 8df3a3a..84164bb 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -82,19 +82,24 @@
 }
 
 double climber_pot_translate(double voltage) {
-  return voltage * Values::kClimberPotMetersPerVolt();
+  return voltage * Values::kClimberPotRatio() *
+         (5.0 /*turns*/ / 5.0 /*volts*/) *
+         Values::kClimberPotMetersPerRevolution();
 }
 
 double flipper_arms_pot_translate(double voltage) {
-  return voltage * Values::kFlipperArmsPotRadiansPerVolt();
+  return voltage * Values::kFlipperArmsPotRatio() *
+         (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 double intake_pot_translate(double voltage) {
-  return voltage * Values::kIntakePotRadiansPerVolt();
+  return voltage * Values::kIntakePotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+         (2 * M_PI /*radians*/);
 }
 
 double turret_pot_translate(double voltage) {
-  return voltage * Values::kTurretPotRadiansPerVolt();
+  return voltage * Values::kTurretPotRatio() *
+         (10.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 constexpr double kMaxFastEncoderPulsesPerSecond =