Removed redundant turn_width.
Change-Id: I68d70930c3d25afa05d00e381b73cd34bdfe6f33
diff --git a/y2016/actors/drivetrain_actor.cc b/y2016/actors/drivetrain_actor.cc
index 94835c8..325f6e4 100644
--- a/y2016/actors/drivetrain_actor.cc
+++ b/y2016/actors/drivetrain_actor.cc
@@ -30,7 +30,7 @@
const double yoffset = params.y_offset;
const double turn_offset =
- params.theta_offset * constants::Values::kTurnWidth / 2.0;
+ params.theta_offset * control_loops::drivetrain::kRobotRadius;
LOG(INFO, "Going to move %f and turn %f\n", yoffset, turn_offset);
// Measured conversion to get the distance right.
@@ -42,11 +42,11 @@
profile.set_maximum_acceleration(params.maximum_acceleration);
profile.set_maximum_velocity(params.maximum_velocity);
- turn_profile.set_maximum_acceleration(params.maximum_turn_acceleration *
- constants::Values::kTurnWidth /
- 2.0);
+ turn_profile.set_maximum_acceleration(
+ params.maximum_turn_acceleration *
+ control_loops::drivetrain::kRobotRadius);
turn_profile.set_maximum_velocity(params.maximum_turn_velocity *
- constants::Values::kTurnWidth / 2.0);
+ control_loops::drivetrain::kRobotRadius);
while (true) {
::aos::time::PhasedLoopXMS(5, 2500);
diff --git a/y2016/autonomous/auto.cc b/y2016/autonomous/auto.cc
index 56844e0..b315223 100644
--- a/y2016/autonomous/auto.cc
+++ b/y2016/autonomous/auto.cc
@@ -15,6 +15,7 @@
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2016/actors/drivetrain_actor.h"
#include "y2016/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2016/queues/profile_params.q.h"
using ::aos::time::Time;
@@ -85,9 +86,9 @@
auto drivetrain_action = actors::MakeDrivetrainAction(params);
drivetrain_action->Start();
left_initial_position +=
- distance - theta * constants::Values::kTurnWidth / 2.0;
+ distance - theta * control_loops::drivetrain::kRobotRadius;
right_initial_position +=
- distance + theta * constants::Values::kTurnWidth / 2.0;
+ distance + theta * control_loops::drivetrain::kRobotRadius;
return ::std::move(drivetrain_action);
}
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 8af39a1..f641e98 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -29,7 +29,7 @@
const int Values::kZeroingSampleSize;
constexpr double Values::kDrivetrainEncoderRatio, Values::kLowGearRatio,
- Values::kHighGearRatio, Values::kTurnWidth, Values::kShooterEncoderRatio,
+ Values::kHighGearRatio, Values::kShooterEncoderRatio,
Values::kIntakeEncoderRatio, Values::kShoulderEncoderRatio,
Values::kWristEncoderRatio, Values::kIntakePotRatio,
Values::kShoulderPotRatio, Values::kWristPotRatio,
diff --git a/y2016/constants.h b/y2016/constants.h
index 3b84c44..e4ecf5e 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -37,8 +37,6 @@
static constexpr double kHighGearRatio =
14.0 / 48.0 * 28.0 / 50.0 * 18.0 / 36.0;
- static constexpr double kTurnWidth = 0.601; // Robot width.
-
// Ratios for our subsystems.
static constexpr double kShooterEncoderRatio = 1.0;
static constexpr double kIntakeEncoderRatio =
diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 1b11690..2a2f36d 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -38,7 +38,6 @@
drivetrain::kV,
drivetrain::kT,
- constants::Values::kTurnWidth,
constants::Values::kHighGearRatio,
constants::Values::kLowGearRatio,
kThreeStateDriveShifter,
diff --git a/y2016/control_loops/superstructure/superstructure_lib_test.cc b/y2016/control_loops/superstructure/superstructure_lib_test.cc
index b5ce93c..cca7d66 100644
--- a/y2016/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2016/control_loops/superstructure/superstructure_lib_test.cc
@@ -592,8 +592,7 @@
constants::Values::kIntakeRange.lower);
superstructure_plant_.InitializeShoulderPosition(
constants::Values::kShoulderRange.lower);
- superstructure_plant_.InitializeRelativeWristPosition(
- constants::Values::kWristRange.lower);
+ superstructure_plant_.InitializeRelativeWristPosition(0.0);
superstructure_plant_.set_power_error(1.0, 1.0, 1.0);
superstructure_queue_.goal.MakeWithBuilder()
.angle_intake(0.0)