Add shooter subsystems to the constants
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I50f0b5e547890a244ed86bfe63348fc78b8173b6
diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index d6db5e5..bcf0362 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -1,10 +1,11 @@
{% set pi = 3.14159265 %}
+{%set zeroing_sample_size = 200 %}
+
+{# Intake #}
{# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
{% set intake_pivot_encoder_ratio = (24.0 / 15.0) %}
-{%set zeroing_sample_size = 200 %}
-
{%
set intake_pivot_zero = {
"average_filter_size": zeroing_sample_size,
@@ -27,3 +28,42 @@
"allowable_encoder_error": 0.9
}
%}
+
+{# Catapult #}
+{% set catapult_encoder_ratio = (12.0 / 24.0) %}
+
+{%
+set catapult_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * catapult_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
+
+{# Altitude #}
+{% set altitude_encoder_ratio = (16.0 / 162.0) %}
+
+{%
+set altitude_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * altitude_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}
+
+{# Turret #}
+{% set turret_encoder_ratio = (22.0 / 100.0) %}
+
+{%
+set turret_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * turret_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}