commit 316ab46bf8c7919605898c446b310da206738923
author Austin Schuh <austin.linux@gmail.com> Sun Sep 13 04:44:40 2015 +0000
committer Austin Schuh <austin.linux@gmail.com> Sun Sep 13 04:46:26 2015 +0000
tree e5ca6e72944b5263128bdccb689ec49ead4b1d00
parent 33140f45956bb152f40afce95d38f993ca6c291a

Calibrated encoders.

Change-Id: I92d46866c6ab16129dd9907058e61c7fcc0bd1e0

bot3/wpilib/wpilib_interface.cc

diff --git a/bot3/wpilib/wpilib_interface.cc b/bot3/wpilib/wpilib_interface.cc
index dfffddc..0c7df64 100644
--- a/bot3/wpilib/wpilib_interface.cc
+++ b/bot3/wpilib/wpilib_interface.cc
@@ -62,7 +62,7 @@
 namespace wpilib {
 
 double drivetrain_translate(int32_t in) {
-  return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
+  return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
          ::bot3::control_loops::kDrivetrainEncoderRatio *
          (4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
 }
@@ -70,6 +70,7 @@
 double elevator_translate(int32_t in) {
   return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
          ::bot3::control_loops::kElevEncoderRatio * (2 * M_PI /*radians*/) *
+         ::bot3::control_loops::kElevChainReduction *
          ::bot3::control_loops::kElevGearboxOutputRadianDistance;
 }