commit 0a98140205ec30048471eb30ce138e78577c7c3b
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Oct 09 21:00:34 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Oct 15 20:36:48 2021 -0700
tree 9ffc95674ee8f4f521229937ae23edfc15acd68f
parent 37d2c3043cf4ff743c1ba959ebdb4913f3ad9efc

Use ADIS16448 in y2020

This updates the IMU transform to be correct for the yaw axis, but may
have the X/Y axes/signs wrong if we care about accelerometer or
roll/pitch data.

Change-Id: I73d86c8be18f447bb35fc13666ccfdda29fef257
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index d174b57..12448bb 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -23,10 +23,6 @@
 
 namespace {
 
-const uint16_t kCompTeamNumber = 971;
-const uint16_t kPracticeTeamNumber = 9971;
-const uint16_t kSpareRoborioTeamNumber = 6971;
-
 const Values *DoGetValuesForTeam(uint16_t team) {
   Values *const r = new Values();
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
@@ -131,10 +127,10 @@
   switch (team) {
     // A set of constants for tests.
     case 1:
-    case kSpareRoborioTeamNumber:
+    case Values::kSpareRoborioTeamNumber:
       break;
 
-    case kCompTeamNumber:
+    case Values::kCompTeamNumber:
       intake->zeroing_constants.measured_absolute_position =
           1.42977866919024 - Values::kIntakeZero();
 
@@ -149,7 +145,7 @@
           0.31055891442198;
       break;
 
-    case kPracticeTeamNumber:
+    case Values::kPracticeTeamNumber:
       hood->zeroing_constants.measured_absolute_position = 0.0;
 
       intake->zeroing_constants.measured_absolute_position = 0.347;