Added Zeroing Estimator for the column
Change-Id: I0c9dc557d91ed62f48d8ab6a9a20d2508e362b82
diff --git a/frc971/constants.h b/frc971/constants.h
index 7b4cb47..0171e47 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -6,6 +6,21 @@
namespace frc971 {
namespace constants {
+struct HallEffectZeroingConstants {
+ // The absolute position of the lower edge of the hall effect sensor.
+ double lower_hall_position;
+ // The absolute position of the upper edge of the hall effect sensor.
+ double upper_hall_position;
+ // The difference in scaled units between two hall effect edges. This is the
+ // number of units/cycle.
+ double index_difference;
+ // Number of cycles we need to see the hall effect high.
+ size_t hall_trigger_zeroing_length;
+ // Direction the system must be moving in order to zero. True is positive,
+ // False is negative direction.
+ bool zeroing_move_direction;
+};
+
struct PotAndIndexPulseZeroingConstants {
// The number of samples in the moving average filter.
size_t average_filter_size;