Move arm constants to constants.h
Change-Id: I0fe6de83a62adc9e330ba55025cb88920a8e43e2
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index 059a3f0..de665d9 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -154,6 +154,32 @@
return std::chrono::seconds(2);
}
+ // if true, tune down all the arm constants for testing.
+ static constexpr bool kArmGrannyMode() { return false; }
+
+ // the operating voltage.
+ static constexpr double kArmOperatingVoltage() {
+ return kArmGrannyMode() ? 6.0 : 12.0;
+ }
+ static constexpr double kArmDt() { return 0.00505; }
+ static constexpr std::chrono::nanoseconds kArmDtDuration() {
+ return std::chrono::duration_cast<std::chrono::nanoseconds>(
+ std::chrono::duration<double>(kArmDt()));
+ }
+ static constexpr double kArmAlpha0Max() {
+ return kArmGrannyMode() ? 15.0 : 15.0;
+ }
+ static constexpr double kArmAlpha1Max() {
+ return kArmGrannyMode() ? 10.0 : 10.0;
+ }
+ static constexpr double kArmAlpha2Max() {
+ return kArmGrannyMode() ? 90.0 : 90.0;
+ }
+
+ static constexpr double kArmVMax() { return kArmGrannyMode() ? 4.0 : 9.5; }
+ static constexpr double kArmPathlessVMax() { return 4.5; }
+ static constexpr double kArmGotoPathVMax() { return 4.5; }
+
struct PotConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
::frc971::zeroing::RelativeEncoderZeroingEstimator>