commit 0a7d28d3a3eee658a85c7545e912cc99b67d3627
author milind-u <milind.upadhyay@gmail.com> Mon Feb 20 17:44:37 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Mon Feb 20 21:33:13 2023 -0800
tree c9936657704c7dc7f676bf2a13aade3e3b92015d
parent 18934ebb612f26bf4220c7a724521dd8a2e51dd8

Add 2023 arm design code

The C++ was better for design than the python...

Change-Id: Ic606a8a728527668b7335eb7a94cbfd69e272774
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>

y2018/constants.h

diff --git a/y2018/constants.h b/y2018/constants.h
index 2a6f0ac..6adcb8a 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -51,7 +51,7 @@
   }
   static constexpr double kMaxProximalEncoderPulsesPerSecond() {
     return control_loops::superstructure::arm::kArmConstants.free_speed /
-           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
+           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g0 /
            kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kProximalPotRatio() { return (12.0 / 60.0); }
@@ -60,7 +60,7 @@
   static constexpr double kDistalEncoderRatio() { return (12.0 / 60.0); }
   static constexpr double kMaxDistalEncoderPulsesPerSecond() {
     return control_loops::superstructure::arm::kArmConstants.free_speed /
-           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g2 /
+           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
            kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kDistalPotRatio() {