commit 5bb12117eea6cf7ed4d32f002a0567395bc7d0e0
author Comran Morshed <comranmorsh@gmail.com> Tue Feb 16 13:48:57 2016 +0000
committer Comran Morshed <comranmorsh@gmail.com> Wed Feb 17 09:47:43 2016 +0000
tree 51dff227bf6e4938d97ab2cd7b864cfe09db7674
parent d8c70b48bb10220578072312ad9d8e9953b75b8b

Fix wpilib_interface translates.

Change-Id: Ib5c024492baffcd6bc6b4f635a3989be2570056c

y2016/wpilib/wpilib_interface.cc

diff --git a/y2016/wpilib/wpilib_interface.cc b/y2016/wpilib/wpilib_interface.cc
index d43af31..408ea8c 100644
--- a/y2016/wpilib/wpilib_interface.cc
+++ b/y2016/wpilib/wpilib_interface.cc
@@ -34,6 +34,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain.q.h"
 #include "y2016/control_loops/shooter/shooter.q.h"
 #include "y2016/constants.h"
+#include "y2016/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2016/control_loops/shooter/shooter.q.h"
 #include "y2016/control_loops/superstructure/superstructure.q.h"
 
@@ -83,17 +84,17 @@
 double drivetrain_translate(int32_t in) {
   return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
          constants::Values::kDrivetrainEncoderRatio *
-         (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
+         control_loops::drivetrain::kWheelRadius * 2.0 / 2.0;
 }
 
 double drivetrain_velocity_translate(double in) {
   return (1.0 / in) / 256.0 /*cpr*/ *
          constants::Values::kDrivetrainEncoderRatio *
-         (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI) * 2.0 / 2.0;
+         control_loops::drivetrain::kWheelRadius * 2.0 / 2.0;
 }
 
 double shooter_translate(int32_t in) {
-  return -static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
+  return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*4x*/) *
          constants::Values::kShooterEncoderRatio * (2 * M_PI /*radians*/);
 }
 
@@ -114,17 +115,17 @@
 
 double intake_pot_translate(double voltage) {
   return voltage * constants::Values::kIntakePotRatio *
-         (5.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+         (10.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 double shoulder_pot_translate(double voltage) {
   return voltage * constants::Values::kShoulderPotRatio *
-         (5.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+         (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 double wrist_pot_translate(double voltage) {
   return voltage * constants::Values::kWristPotRatio *
-         (5.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+         (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 constexpr double kMaxDrivetrainEncoderPulsesPerSecond =