Created zeroing constants for new zeroing methods.
Change-Id: I9c4ea481146a2cff1b9b474ba5035de7c9af6d25
diff --git a/frc971/constants.h b/frc971/constants.h
index ad3ce71..0da9c96 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -16,6 +16,19 @@
double allowable_encoder_error;
};
+struct EncoderPlusIndexZeroingConstants {
+ // The amount of index pulses in the limb's range of motion.
+ int num_index_pulses;
+};
+
+struct PotAndAbsoluteEncoderZeroingConstants {
+ // The distance that the absolute encoder needs to complete a full rotation.
+ double abs_duration;
+ // Sample mechanism angle and absolute encoder value.
+ double sample_abs_value;
+ double sample_degrees;
+};
+
// Defines a range of motion for a subsystem.
// These are all absolute positions in scaled units.
struct Range {