started entering real constants
diff --git a/frc971/constants.h b/frc971/constants.h
index 81c7887..3416a39 100755
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -27,8 +27,10 @@
struct Values {
// This is useful for representing the 2 sides of a hall effect sensor etc.
struct AnglePair {
- double lower_angle;
- double upper_angle;
+ // The angles for increasing values (posedge on lower, negedge on upper).
+ double lower_angle, upper_angle;
+ // The angles for decreasing values (negedge on lower, posedge on upper).
+ double lower_decreasing_angle, upper_decreasing_angle;
};
// The ratio from the encoder shaft to the drivetrain wheels.
@@ -72,6 +74,10 @@
double claw_min_separation;
double claw_max_separation;
+ // We should never get closer/farther than these.
+ double soft_min_separation;
+ double soft_max_separation;
+
// Three hall effects are known as front, calib and back
typedef Values::AnglePair AnglePair;