y2017/constants.h

#ifndef Y2017_CONSTANTS_H_
#define Y2017_CONSTANTS_H_

#include <stdint.h>
#include <math.h>

#include "frc971/constants.h"

namespace y2017 {
namespace constants {

// Has all of the numbers that change for both robots and makes it easy to
// retrieve the values for the current one.

// Everything is in SI units (volts, radians, meters, seconds, etc).
// Some of these values are related to the conversion between raw values
// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).

// This structure contains current values for all of the things that change.
struct Values {
  // ///// Mutual constants between robots. /////
  // TODO(constants): Update/check these with what we're using this year.

  static const int kZeroingSampleSize = 200;

  // The ratio from the encoder shaft to the drivetrain wheels.

  static constexpr double kDrivetrainEncoderRatio = 1.0 ;

  // Ratios for our subsystems.
  static constexpr double kShooterEncoderRatio = 32.0 / 48.0; //Encoder rotation to shooter wheel revolution
  static constexpr double kIntakeEncoderRatio = (16 * 0.25) * (20 / 40) / (2.0 * numpy.pi) * 0.0254; //Encoder rotation per Meter(inch per radian) of movement
  static constexpr double kIntakePotRatio = (16 * 0.25) / (2.0 * numpy.pi) * 0.0254; //Pot Rotation per Meter(inch per radian) of movement
  static constexpr double kHoodEncoderRatio = 20.0 / 345.0; //Encoder rotation to Hood rotation
  static constexpr double kHoodPotRatio = 20.0 / 345.0; //Pot Rotation per Hood rotation
  static constexpr double kTurretEncoderRatio = 16.0 / 92.0; //Encoder rotation toTurret rotation
  static constexpr double kTurretPotRatio = 16.0 / 92.0; //Pot Rotation per Turret rotation
  static constexpr double kIndexerEncoderRatio = (18.0 / 36.0) * (12.0 / 84.0); //Encoder rotation to Inner indexer rotation

  // Difference in radians between index pulses.
  static constexpr double kIntakeEncoderIndexDifference =
      2.0 * M_PI * kIntakeEncoderRatio;
  static constexpr double kIndexerEncoderIndexDifference =
      2.0 * M_PI * kIndexerEncoderRatio;
  static constexpr double kTurretEncoderIndexDifference =
      2.0 * M_PI * kTurretEncoderRatio;
  static constexpr double kHoodEncoderIndexDifference =
      2.0 * M_PI * kHoodEncoderRatio;

  static constexpr ::frc971::constants::Range kIntakeRange{
      // Lower hard stop in meters(inches)
      -0.600 * 0.0254,
      // Upper hard stop
      8.655 * 0.0254,
      // Lower soft stop
      0.000,
      // Upper soft stop
      8.530 * 0.0254};
  static constexpr ::frc971::constants::Range kHoodRange{
      // Lower hard stop in radians
      -1.0 / 345.0 * 2.0 * M_PI,
      // Upper hard stop in radians
      39.0 / 345.0 * 2.0 * M_PI,
      // Lower soft stop in radians
      0.0,
      // Upper soft stop in radians
      (39.0 - 1.0) / 345.0 * 2.0 * M_PI};
  static constexpr ::frc971::constants::Range kTurretRange{
      // Lower hard stop in radians
      -460.0 / 2.0 * M_PI / 180.0,
      // Upper hard stop in radians
      460.0 / 2.0 * M_PI / 180.0,
      // Lower soft stop in radians
      -450.0 / 2.0 * M_PI / 180.0,
      // Upper soft stop in radians
      450.0 / 2.0 * M_PI / 180.0};
  // ///// Dynamic constants. /////
  double drivetrain_max_speed;

  struct Intake {
    double pot_offset;
    ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
  };
  Intake intake;

  struct Turret {
    double pot_offset;
    ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
  };
  Turret turret;

  struct Hood {
    double pot_offset;
    ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
  };
  Hood hood;

  double down_error;
  const char *vision_name;
};

// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
// returns a reference to it.
const Values &GetValues();

// Creates Values instances for each team number it is called with and returns
// them.
const Values &GetValuesForTeam(uint16_t team_number);

}  // namespace constants
}  // namespace y2017

#endif  // Y2017_CONSTANTS_H_