commit 0e37f59ce4d78fdcc64f7a46e5e453c18b919f2a
author Siddhant Kanwar <kanwarsiddhant@gmail.com> Mon Feb 21 19:26:50 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Feb 21 21:42:36 2022 -0800
tree bc04607ad7397030a25144e7fff580e95c9a525d
parent 039d75607dee56e3dc35b39a860702d7f583d6b6

Add climber code without tests

This runs a loop to follow the request.

Signed-off-by: Siddhant Kanwar <kanwarsiddhant@gmail.com>
Change-Id: Iad516390561175f74eb33e0cda6a505376a372ed

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 73e72f3..e71fb64 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -12,6 +12,7 @@
 #include "aos/network/team_number.h"
 #include "glog/logging.h"
 #include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
+#include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
 
 namespace y2022 {
 namespace constants {
@@ -58,18 +59,32 @@
   // Measured absolute position of the encoder when at zero.
   intake->zeroing_constants.measured_absolute_position = 0.0;
 
+  // Climber constants
+  auto *const climber = &r->climber;
+  climber->subsystem_params.zeroing_voltage = 3.0;
+  climber->subsystem_params.operating_voltage = 12.0;
+  climber->subsystem_params.zeroing_profile_params = {0.5, 0.1};
+  climber->subsystem_params.default_profile_params = {6.0, 1.0};
+  climber->subsystem_params.range = Values::kClimberRange();
+  climber->subsystem_params.make_integral_loop =
+      control_loops::superstructure::climber::MakeIntegralClimberLoop;
+
   switch (team) {
     // A set of constants for tests.
     case 1:
+      climber->potentiometer_offset = 0.0;
       break;
 
     case kCompTeamNumber:
+      climber->potentiometer_offset = 0.0;
       break;
 
     case kPracticeTeamNumber:
+      climber->potentiometer_offset = 0.0;
       break;
 
     case kCodingRobotTeamNumber:
+      climber->potentiometer_offset = 0.0;
       break;
 
     default: