| #ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| #define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| |
| #include "bot3/shifter_hall_effect.h" |
| |
| namespace bot3 { |
| namespace control_loops { |
| |
| // TODO(danielp): Figure out the real values for these constants. |
| constexpr constants::ShifterHallEffect kBot3LeftDriveShifter = |
| {170, 475, 1.2, 1.0}; |
| constexpr constants::ShifterHallEffect kBot3RightDriveShifter = |
| {177, 486, 1.2, 1.0}; |
| |
| constexpr double kBot3TurnWidth = 0.5; |
| constexpr double kBot3DrivetrainDoneDistance = 0.02; |
| |
| constexpr double kBot3HighGearRatio = 18.0 / 60.0 * 18.0 / 50.0; |
| constexpr double kBot3LowGearRatio = 28.0 / 50.0 * 18.0 / 50.0; |
| |
| } // control_loops |
| } // bot3 |
| |
| #endif |