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
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 84164bb..8df3a3a 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -82,24 +82,19 @@
}
double climber_pot_translate(double voltage) {
- return voltage * Values::kClimberPotRatio() *
- (5.0 /*turns*/ / 5.0 /*volts*/) *
- Values::kClimberPotMetersPerRevolution();
+ return voltage * Values::kClimberPotMetersPerVolt();
}
double flipper_arms_pot_translate(double voltage) {
- return voltage * Values::kFlipperArmsPotRatio() *
- (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+ return voltage * Values::kFlipperArmsPotRadiansPerVolt();
}
double intake_pot_translate(double voltage) {
- return voltage * Values::kIntakePotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
- (2 * M_PI /*radians*/);
+ return voltage * Values::kIntakePotRadiansPerVolt();
}
double turret_pot_translate(double voltage) {
- return voltage * Values::kTurretPotRatio() *
- (10.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+ return voltage * Values::kTurretPotRadiansPerVolt();
}
constexpr double kMaxFastEncoderPulsesPerSecond =