Added a better first approximation of range of motion for superstructure.
Change-Id: I2e718496c85f0bc91c2f777cce5e6ce8db9b866c
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 0b17cc3..20bafae 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -52,6 +52,31 @@
const int kZeroingSampleSize = 200;
+constexpr Values::Range kIntakeRange{// lower hard stop
+ -0.4,
+ // upper hard stop
+ 2,
+ // lower soft limit
+ -0.3,
+ // upper soft limit
+ 1.9};
+constexpr Values::Range kShoulderRange{// lower hard stop
+ -0.2,
+ // upper hard stop
+ 2.0,
+ // lower soft limit
+ -0.1,
+ // upper soft limit
+ 1.9};
+constexpr Values::Range kWristRange{// lower hard stop
+ -2,
+ // upper hard stop
+ 2,
+ // lower soft limit
+ -1.9,
+ // upper soft limit
+ 1.9};
+
const Values *DoGetValuesForTeam(uint16_t team) {
switch (team) {
case 1: // for tests
@@ -68,19 +93,19 @@
// Intake
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kIntakeRange,
{kZeroingSampleSize, INTAKE_ENCODER_INDEX_DIFFERENCE, 0.0, 0.3},
},
// Shoulder
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kShoulderRange,
{kZeroingSampleSize, SHOULDER_ENCODER_INDEX_DIFFERENCE, 0.0, 0.3},
},
// Wrist
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kWristRange,
{kZeroingSampleSize, WRIST_ENCODER_INDEX_DIFFERENCE, 0.0, 0.3},
},
};
@@ -99,19 +124,19 @@
// Intake
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kIntakeRange,
{kZeroingSampleSize, INTAKE_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
// Shoulder
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kShoulderRange,
{kZeroingSampleSize, SHOULDER_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
// Wrist
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kWristRange,
{kZeroingSampleSize, WRIST_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
};
@@ -130,19 +155,19 @@
// Intake
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kIntakeRange,
{kZeroingSampleSize, INTAKE_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
// Shoulder
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kShoulderRange,
{kZeroingSampleSize, SHOULDER_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
// Wrist
{
- {-M_PI - 0.05, M_PI + 0.05, -M_PI, M_PI},
+ kWristRange,
{kZeroingSampleSize, WRIST_ENCODER_INDEX_DIFFERENCE, 0.9, 0.3},
},
};