commit 342b85e08c497c5e3f7687eb334b05f82a75b047
author Nathan Leong <100028864@mvla.net> Sun Jan 08 13:49:33 2023 -0800
committer Nathan Leong <100028864@mvla.net> Wed Jan 18 19:44:48 2023 -0800
tree f681190e127e932f4a8830fd7982e90a93f54b90
parent 4afefdb6d5038cc44d4c39b1dc50ffaae31f0467

Added units per volt ratio constants

This reverts commit 00c730d45e241e494d8c22b52340769ea9a83a9a.

Reason for revert: Works again.

Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: Ia1f340c69586cc0ef417408b99eee7fc6b4fa4fb

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index 297f814..62b9b4a 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -58,6 +58,11 @@
   }
   static constexpr double kClimberPotRatio() { return 1.0; }
 
+  static constexpr double kClimberPotMetersPerVolt() {
+    return kClimberPotRatio() * (5.0 /*turns*/ / 5.0 /*volts*/) *
+           kClimberPotMetersPerRevolution();
+  }
+
   struct PotConstants {
     ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
         ::frc971::zeroing::RelativeEncoderZeroingEstimator>
@@ -77,6 +82,11 @@
 
   static constexpr double kIntakePotRatio() { return 16.0 / 64.0; }
 
+  static constexpr double kIntakePotRadiansPerVolt() {
+    return kIntakePotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+           (2 * M_PI /*radians*/);
+  }
+
   static constexpr double kMaxIntakeEncoderPulsesPerSecond() {
     return control_loops::superstructure::intake::kFreeSpeed / (2.0 * M_PI) *
            control_loops::superstructure::intake::kOutputRatio /
@@ -121,6 +131,10 @@
   static constexpr double kTurretFrontIntakePos() { return 0; }
 
   static constexpr double kTurretPotRatio() { return 27.0 / 110.0; }
+  static constexpr double kTurretPotRadiansPerVolt() {
+    return kTurretPotRatio() * (10.0 /*turns*/ / 5.0 /*volts*/) *
+           (2 * M_PI /*radians*/);
+  }
   static constexpr double kTurretEncoderRatio() { return kTurretPotRatio(); }
   static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
 
@@ -175,6 +189,11 @@
 
   static constexpr double kFlipperArmsPotRatio() { return 16.0 / 36.0; }
 
+  static constexpr double kFlipperArmsPotRadiansPerVolt() {
+    return kFlipperArmsPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+           (2 * M_PI /*radians*/);
+  }
+
   PotConstants flipper_arm_left;
   PotConstants flipper_arm_right;