commit 41c681589559e9336bbdaa338baea393936e03d7
author James Kuszmaul <jabukuszmaul@gmail.com> Thu Feb 23 14:54:59 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Thu Feb 23 16:52:57 2023 -0800
tree 3f460cfd421b1caca0d6be6ee1660d403be66faa
parent 91dcc643d9fd6849f64a7a7fcb6aba622e6d9803

Use non-identity encoder ratio in 2023 imu

Change-Id: I51859e89f30307896f30f72b89d144c83b82fd87
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2023/rockpi/BUILD

diff --git a/y2023/rockpi/BUILD b/y2023/rockpi/BUILD
index 91e8729..701383b 100644
--- a/y2023/rockpi/BUILD
+++ b/y2023/rockpi/BUILD
@@ -7,5 +7,6 @@
         "//aos:init",
         "//aos/events:shm_event_loop",
         "//frc971/imu_reader:imu",
+        "//y2023:constants",
     ],
 )

y2023/rockpi/imu_main.cc

diff --git a/y2023/rockpi/imu_main.cc b/y2023/rockpi/imu_main.cc
index ac0c141..d53b3fb 100644
--- a/y2023/rockpi/imu_main.cc
+++ b/y2023/rockpi/imu_main.cc
@@ -2,6 +2,7 @@
 #include "aos/init.h"
 #include "aos/realtime.h"
 #include "frc971/imu_reader/imu.h"
+#include "y2023/constants.h"
 
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
 
@@ -12,8 +13,8 @@
       aos::configuration::ReadConfig(FLAGS_config);
 
   aos::ShmEventLoop event_loop(&config.message());
-  // TODO(austin): Set the ratio...
-  frc971::imu::Imu imu(&event_loop, 1.0);
+  frc971::imu::Imu imu(&event_loop,
+                       y2023::constants::Values::DrivetrainEncoderToMeters(1));
 
   event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
   event_loop.SetRuntimeRealtimePriority(55);