Add arm code to 2023
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: If97b4dd4c8fb16371e21ac6e9667a2d52b1b53a6
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 843af2b..89d9f49 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -15,25 +15,60 @@
namespace y2023 {
namespace constants {
-const int Values::kZeroingSampleSize;
-
Values MakeValues(uint16_t team) {
LOG(INFO) << "creating a Constants for team: " << team;
Values r;
+ auto *const arm_proximal = &r.arm_proximal;
+ auto *const arm_distal = &r.arm_distal;
+
+ arm_proximal->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ arm_proximal->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kProximalEncoderRatio();
+ arm_proximal->zeroing.zeroing_threshold = 0.0005;
+ arm_proximal->zeroing.moving_buffer_size = 20;
+ arm_proximal->zeroing.allowable_encoder_error = 0.9;
+
+ arm_distal->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ arm_distal->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
+ arm_distal->zeroing.zeroing_threshold = 0.0005;
+ arm_distal->zeroing.moving_buffer_size = 20;
+ arm_distal->zeroing.allowable_encoder_error = 0.9;
+
switch (team) {
// A set of constants for tests.
case 1:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
break;
case kCompTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
break;
case kPracticeTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
break;
case kCodingRobotTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.0;
+ arm_proximal->potentiometer_offset = 0.0;
+
+ arm_distal->zeroing.measured_absolute_position = 0.0;
+ arm_distal->potentiometer_offset = 0.0;
break;
default: