Remove Encoder from Climber
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: Ia219b303a500c46fdd72aad592053fe81e807f2b
diff --git a/y2024/constants.h b/y2024/constants.h
index 9923660..4cb5378 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -71,32 +71,16 @@
kIntakePivotEncoderCountsPerRevolution();
}
- static constexpr double kClimberEncoderCountsPerRevolution() {
- return 4096.0;
- }
-
- static constexpr double kClimberEncoderRatio() { return (16.0 / 60.0); }
-
static constexpr double kClimberPotMetersPerRevolution() {
return 16 * 0.25 * 0.0254;
}
- static constexpr double kClimberEncoderMetersPerRadian() {
- return kClimberEncoderRatio() * kClimberPotMetersPerRevolution() / 2.0 /
- M_PI;
- }
-
static constexpr double kClimberPotMetersPerVolt() {
return kClimberPotMetersPerRevolution() * (10.0 /*turns*/ / 5.0 /*volts*/);
}
- static constexpr double kMaxClimberEncoderPulsesPerSecond() {
- return control_loops::superstructure::climber::kFreeSpeed / (2.0 * M_PI) *
- control_loops::superstructure::climber::kOutputRatio /
- kClimberEncoderRatio() * kClimberEncoderCountsPerRevolution();
- }
-
static constexpr double kExtendEncoderCountsPerRevolution() { return 4096.0; }
+
// TODO: (niko) add the gear ratios for the intake once we have them
static constexpr double kCatapultEncoderCountsPerRevolution() {
return 4096.0;
@@ -241,6 +225,13 @@
::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
subsystem_params;
};
+
+ struct PotConstants {
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::RelativeEncoderZeroingEstimator>
+ subsystem_params;
+ double potentiometer_offset;
+ };
};
// Creates and returns a Values instance for the constants.