Copy back a lot of the 2014 code.
Change-Id: I552292d8bd7bce4409e02d254bef06a9cc009568
diff --git a/y2014/constants.h b/y2014/constants.h
new file mode 100644
index 0000000..79ba826
--- /dev/null
+++ b/y2014/constants.h
@@ -0,0 +1,145 @@
+#ifndef Y2014_CONSTANTS_H_
+#define Y2014_CONSTANTS_H_
+
+#include <stdint.h>
+
+#include "frc971/control_loops/state_feedback_loop.h"
+#include "frc971/shifter_hall_effect.h"
+
+namespace frc971 {
+namespace constants {
+
+// Has all of the numbers that change for both robots and makes it easy to
+// retrieve the values for the current one.
+
+// Everything is in SI units (volts, radians, meters, seconds, etc).
+// Some of these values are related to the conversion between raw values
+// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).
+
+// This structure contains current values for all of the things that change.
+struct Values {
+ // This is useful for representing the 2 sides of a hall effect sensor etc.
+ struct AnglePair {
+ // 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.
+ double drivetrain_encoder_ratio;
+
+ // The gear ratios from motor shafts to the drivetrain wheels for high and low
+ // gear.
+ double low_gear_ratio;
+ double high_gear_ratio;
+ ShifterHallEffect left_drive, right_drive;
+ bool clutch_transmission;
+
+ double turn_width;
+
+ ::std::function<StateFeedbackLoop<2, 2, 2>()> make_v_drivetrain_loop;
+ ::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
+
+ double drivetrain_done_distance;
+ double drivetrain_max_speed;
+
+ struct ZeroingConstants {
+ // The number of samples in the moving average filter.
+ int average_filter_size;
+ // The difference in scaled units between two index pulses.
+ double index_difference;
+ // The absolute position in scaled units of one of the index pulses.
+ double measured_index_position;
+ // Value between 0 and 1 which determines a fraction of the index_diff
+ // you want to use.
+ double allowable_encoder_error;
+ };
+
+ // Defines a range of motion for a subsystem.
+ // These are all absolute positions in scaled units.
+ struct Range {
+ double lower_limit;
+ double upper_limit;
+ double lower_hard_limit;
+ double upper_hard_limit;
+ };
+
+ struct Shooter {
+ double lower_limit;
+ double upper_limit;
+ double lower_hard_limit;
+ double upper_hard_limit;
+ // If the plunger is further back than this position, it is safe for the
+ // latch to be down. Anything else would be considered a collision.
+ double latch_max_safe_position;
+ AnglePair plunger_back;
+ AnglePair pusher_distal;
+ AnglePair pusher_proximal;
+ double zeroing_speed;
+ double unload_speed;
+ };
+
+ Shooter shooter;
+
+ struct Claws {
+ double claw_zeroing_off_speed;
+ double claw_zeroing_speed;
+ double claw_zeroing_separation;
+
+ // claw separation that would be considered a collision
+ 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;
+
+ struct Claw {
+ double lower_hard_limit;
+ double upper_hard_limit;
+ double lower_limit;
+ double upper_limit;
+ AnglePair front;
+ AnglePair calibration;
+ AnglePair back;
+ };
+
+ Claw upper_claw;
+ Claw lower_claw;
+
+ double claw_unimportant_epsilon;
+ double start_fine_tune_pos;
+ double max_zeroing_voltage;
+ };
+ Claws claw;
+
+ // Has all the constants for the ShootAction class.
+ struct ShooterAction {
+ // Minimum separation required between the claws in order to be able to
+ // shoot.
+ double claw_shooting_separation;
+
+ // Goal to send to the claw when opening it up in preparation for shooting;
+ // should be larger than claw_shooting_separation so that we can shoot
+ // promptly.
+ double claw_separation_goal;
+ };
+ ShooterAction shooter_action;
+};
+
+// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
+// returns a reference to it.
+const Values &GetValues();
+
+// Creates Values instances for each team number it is called with and returns
+// them.
+const Values &GetValuesForTeam(uint16_t team_number);
+
+} // namespace constants
+} // namespace frc971
+
+#endif // Y2014_CONSTANTS_H_