commit 630ab1df2787aad87c474bf2fdfd97270a5fbb9c
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Jan 09 16:38:57 2024 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Jan 20 13:06:44 2024 -0800
tree 001731a5257c7eca02b52b3f8de0445bf94bb4e2
parent c0eb890c794ff0832db92e00403852f0c96b86a9

Swap y2023 wrist over to the constants.json

There are a couple of awkward constants that show up in json_codegen.cc
as still being managed from the C++ end; there are also a couple of
codegen'd constants from the wrist python code that we use in
constants.h. However, this does move *all* of the per-robot
configuration into the constants JSON file and should allow us to remove
the superstructure's dependency on the constants.h (if the arm were also
converted over).

Change-Id: Id9fc1e80830af823d96e5f3c1e469495eba454a4
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 8438281..d03bda3 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -39,6 +39,7 @@
 #include "aos/util/wrapping_counter.h"
 #include "frc971/autonomous/auto_mode_generated.h"
 #include "frc971/can_configuration_generated.h"
+#include "frc971/constants/constants_sender_lib.h"
 #include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
 #include "frc971/control_loops/drivetrain/drivetrain_position_generated.h"
 #include "frc971/input/robot_state_generated.h"
@@ -56,6 +57,7 @@
 #include "frc971/wpilib/sensor_reader.h"
 #include "frc971/wpilib/wpilib_robot_base.h"
 #include "y2023/constants.h"
+#include "y2023/constants/constants_generated.h"
 #include "y2023/control_loops/superstructure/led_indicator.h"
 #include "y2023/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2023/control_loops/superstructure/superstructure_position_static.h"
@@ -403,6 +405,7 @@
                CANSensorReader *can_sensor_reader)
       : ::frc971::wpilib::SensorReader(event_loop),
         values_(std::move(values)),
+        constants_fetcher_(event_loop),
         auto_mode_sender_(
             event_loop->MakeSender<::frc971::autonomous::AutonomousMode>(
                 "/autonomous")),
@@ -460,8 +463,10 @@
                    false, values_->roll_joint.potentiometer_offset);
       CopyPosition(wrist_encoder_, builder->add_wrist(),
                    Values::kWristEncoderCountsPerRevolution(),
-                   values_->wrist.subsystem_params.zeroing_constants
-                           .one_revolution_distance /
+                   constants_fetcher_.constants()
+                           .robot()
+                           ->wrist_zero()
+                           ->one_revolution_distance() /
                        (M_PI * 2.0),
                    values_->wrist_flipped);
 
@@ -632,6 +637,7 @@
 
  private:
   std::shared_ptr<const Values> values_;
+  frc971::constants::ConstantsFetcher<Constants> constants_fetcher_;
 
   aos::Sender<frc971::autonomous::AutonomousMode> auto_mode_sender_;
   aos::Sender<superstructure::PositionStatic> superstructure_position_sender_;
@@ -919,6 +925,8 @@
     aos::FlatbufferDetachedBuffer<aos::Configuration> config =
         aos::configuration::ReadConfig("aos_config.json");
 
+    frc971::constants::WaitForConstants<y2023::Constants>(&config.message());
+
     // Thread 1.
     ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(