Create y2022 directory
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I3a57026587204e084276c7e338c397467f776a70
diff --git a/y2022/constants.h b/y2022/constants.h
new file mode 100644
index 0000000..418645b
--- /dev/null
+++ b/y2022/constants.h
@@ -0,0 +1,49 @@
+#ifndef Y2022_CONSTANTS_H_
+#define Y2022_CONSTANTS_H_
+
+#include <array>
+#include <cmath>
+#include <cstdint>
+
+#include "frc971/constants.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace y2022 {
+namespace constants {
+
+struct Values {
+ static const int kZeroingSampleSize = 200;
+
+ static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
+ static constexpr double kDrivetrainEncoderCountsPerRevolution() {
+ return kDrivetrainCyclesPerRevolution() * 4;
+ }
+ static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
+ static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
+ return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::drivetrain::kHighOutputRatio /
+ constants::Values::kDrivetrainEncoderRatio() *
+ kDrivetrainEncoderCountsPerRevolution();
+ }
+ static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
+ static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
+
+ // Climber
+ static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }
+};
+
+// Creates (once) a Values instance for ::aos::network::GetTeamNumber(). Should
+// be called before realtime because this allocates memory.
+void InitValues();
+
+// Returns a reference to the Values instance for
+// ::aos::network::GetTeamNumber(). Values must be initialized through
+// InitValues() before calling this.
+const Values &GetValues();
+
+} // namespace constants
+} // namespace y2022
+
+#endif // Y2022_CONSTANTS_H_