Add X/Y profiling to the fridge.
The fridge queue now accepts parameters for an additional profiling
type. If you set `profiling_type` to 1 then you can specify the goals
in X/Y co-ordinates.
This is very useful for the scoring actions because it lets us move
the fridge horizontally with nicely profiled motions.
Change-Id: Idc70d5f6737a18a76448af0ffe24079cac616d06
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 4b4365a..f9d1db4 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -121,6 +121,9 @@
const int kZeroingSampleSize = 200;
+// The length of the arm.
+const double kArmLength = 0.7366;
+
// TODO(danielp): All these values might need to change.
const double kClawPistonSwitchTime = 0.4;
const double kClawZeroingRange = 0.3;
@@ -186,6 +189,7 @@
3.5 - 0.17 - -0.15,
kArmZeroingHeight,
+ kArmLength,
},
// End "sensor" values.
@@ -255,6 +259,7 @@
3.506927 - 0.170017 - -0.147970,
kArmZeroingHeight,
+ kArmLength,
},
// End "sensor" values.
@@ -326,6 +331,7 @@
3.506927 - 0.170017 - -0.147970 - 0.005045 - -0.026504,
kArmZeroingHeight,
+ kArmLength,
},
// TODO(sensors): End "sensor" values.