Modify code for single shifter hall effect.
The third robot has only one hall effect sensor sensing the
entire range of the shifter piston.
Change-Id: I6008c7b920d21da024c90ee1eb40dc2c7e400b62
diff --git a/bot3/control_loops/drivetrain/drivetrain.cc b/bot3/control_loops/drivetrain/drivetrain.cc
index ae313e5..bf81510 100644
--- a/bot3/control_loops/drivetrain/drivetrain.cc
+++ b/bot3/control_loops/drivetrain/drivetrain.cc
@@ -20,6 +20,7 @@
#include "bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "bot3/control_loops/drivetrain/polydrivetrain_cim_plant.h"
#include "bot3/control_loops/drivetrain/polydrivetrain_dog_motor_plant.h"
+#include "bot3/shifter_hall_effect.h"
#include "frc971/control_loops/coerce_goal.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/queues/other_sensors.q.h"
@@ -290,7 +291,7 @@
}
static bool IsInGear(Gear gear) { return gear == LOW || gear == HIGH; }
- static double MotorSpeed(const ::frc971::constants::ShifterHallEffect &hall_effect,
+ static double MotorSpeed(const constants::ShifterHallEffect &hall_effect,
double shifter_position, double velocity) {
// TODO(austin): G_high, G_low and kWheelRadius
const double avg_hall_effect =
@@ -303,7 +304,7 @@
}
}
- Gear ComputeGear(const ::frc971::constants::ShifterHallEffect &hall_effect,
+ Gear ComputeGear(const constants::ShifterHallEffect &hall_effect,
double velocity, Gear current) {
const double low_omega = MotorSpeed(hall_effect, 0.0, ::std::abs(velocity));
const double high_omega =
diff --git a/bot3/control_loops/drivetrain/drivetrain_constants.h b/bot3/control_loops/drivetrain/drivetrain_constants.h
index 9d49d59..95a74f5 100644
--- a/bot3/control_loops/drivetrain/drivetrain_constants.h
+++ b/bot3/control_loops/drivetrain/drivetrain_constants.h
@@ -1,17 +1,17 @@
#ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
#define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_
+#include "bot3/shifter_hall_effect.h"
#include "frc971/control_loops/state_feedback_loop.h"
-#include "frc971/shifter_hall_effect.h"
namespace bot3 {
namespace control_loops {
// TODO(danielp): Figure out the real values for these constants.
-constexpr ::frc971::constants::ShifterHallEffect kBot3LeftDriveShifter =
- {555, 657, 660, 560, 0.2, 0.7};
-constexpr ::frc971::constants::ShifterHallEffect kBot3RightDriveShifter =
- {555, 660, 644, 552, 0.2, 0.7};
+constexpr constants::ShifterHallEffect kBot3LeftDriveShifter =
+ {170, 475, 1.2, 1.0};
+constexpr constants::ShifterHallEffect kBot3RightDriveShifter =
+ {177, 486, 1.2, 1.0};
constexpr double kBot3TurnWidth = 0.5;
constexpr double kBot3DrivetrainDoneDistance = 0.02;