commit 0d2207768f51d70ff8055de595774b6ee0b88131
author Maxwell Henderson <maxwell.henderson@mailbox.org> Mon Nov 06 11:09:58 2023 -0800
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Wed Nov 08 12:33:32 2023 -0800
tree d20ff08fb0f4ff1cff2909e1e80a5d318fbce47a
parent 43684fa4ac36692de0be88035b806a7b41ae8abb

Add pivot joint functionality

Signed-off-by: Charlie Huang <charliehuang09@gmail.com>
Change-Id: Ib40d4ce1a4c91f1b0e75b3548fe43c9218433634

y2023_bot3/constants.h

diff --git a/y2023_bot3/constants.h b/y2023_bot3/constants.h
index fb3089e..a365349 100644
--- a/y2023_bot3/constants.h
+++ b/y2023_bot3/constants.h
@@ -62,19 +62,19 @@
            control_loops::drivetrain::kWheelRadius;
   }
 
-  struct PotAndAbsEncoderConstants {
-    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
-        ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
-        subsystem_params;
-    double potentiometer_offset;
-  };
-
   // Pivot Joint (placeholders)
   static constexpr double kPivotJointEncoderCountsPerRevolution() {
     return 4096.0;
   }
 
-  static constexpr double kPivotJointEncoderRatio() { return 1.0; }
+  static constexpr double kPivotJointEncoderRatio() { return (18.0 / 48.0); }
+
+  static constexpr double kPivotJointPotRatio() { return (18.0 / 48.0); }
+
+  static constexpr double kPivotJointPotRadiansPerVolt() {
+    return kPivotJointPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+           (2 * M_PI /*radians*/);
+  }
 
   static constexpr double kMaxPivotJointEncoderPulsesPerSecond() {
     return control_loops::superstructure::pivot_joint::kFreeSpeed /
@@ -92,6 +92,13 @@
     };
   }
 
+  struct PotAndAbsEncoderConstants {
+    ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+        ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+        subsystem_params;
+    double potentiometer_offset;
+  };
+
   PotAndAbsEncoderConstants pivot_joint;
 
   bool pivot_joint_flipped;