fixed the conversions from encoder ticks to queues
diff --git a/frc971/input/sensor_receiver.cc b/frc971/input/sensor_receiver.cc
index ff4fdf6..369dab5 100644
--- a/frc971/input/sensor_receiver.cc
+++ b/frc971/input/sensor_receiver.cc
@@ -39,9 +39,11 @@
};
double drivetrain_translate(int32_t in) {
- return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- constants::GetValues().drivetrain_encoder_ratio *
- (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+ return static_cast<double>(in)
+ / (256.0 /*cpr*/ * 4.0 /*quad*/)
+ * (18.0 / 50.0 /*output stage*/) * (56.0 / 30.0 /*encoder gears*/)
+ // * constants::GetValues().drivetrain_encoder_ratio
+ * (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
// Translates values from the ADC into voltage.
@@ -71,13 +73,18 @@
}
double shooter_translate(int32_t in) {
- // TODO(brians): Put real numbers in.
- return in;
+ return static_cast<double>(in)
+ / (256.0 /*cpr*/ * 4.0 /*quad*/)
+ * (18.0 / 48.0 /*encoder gears*/)
+ * (12.0 / 60.0 /*chain reduction*/)
+ * (M_PI / 180.0);
}
double claw_translate(int32_t in) {
- // TODO(brians): Put real numbers in.
- return in;
+ return static_cast<double>(in)
+ / (256.0 /*cpr*/ * 4.0 /*quad*/)
+ * 16 /*sprocket teeth*/ * 0.375 /*chain pitch*/
+ * (2.54 / 100.0 /*in to m*/);
}
template<typename Structure>