Updating intake gear ratio and counts per revolution
Signed-off-by: Milo Lin <100027790@mvla.net>
Change-Id: I35ef20067b269af35ecb242ee36e5307d9dfb2c5
diff --git a/y2022/constants.h b/y2022/constants.h
index 0170f50..050a363 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -34,6 +34,16 @@
// Climber
static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }
+
+ // Intake
+ // two encoders with same gear ratio for intake
+ static constexpr double kIntakeEncoderCountsPerRevolution() { return 512.0; }
+
+ static constexpr double kIntakeEncoderRatio() {
+ return ((16.0 / 60.0) * (18.0 / 62.0));
+ }
+
+ // TODO(Milo): Also need to add specific PPR (Pulse per revolution)
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber(). Should