Convert y2014 to y2016, and get the drivetrain running.
I made a y2016 folder based on what was in y2014. Right now, it only has
a drivetrain control loop, and all the constants are not up to date with
the current CAD design. Changes from y2014 can be viewed by comparing to
the BASE commit, since I put this commit on top of a dummy y2014 folder
renamed y2016. Hope this helps.
Change-Id: I3f1d1d1a14a99ac441c51b2a67cbade7cbd708ab
diff --git a/y2016/constants.h b/y2016/constants.h
index a31e9c0..5f55938 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -1,12 +1,12 @@
-#ifndef Y2014_CONSTANTS_H_
-#define Y2014_CONSTANTS_H_
+#ifndef Y2016_CONSTANTS_H_
+#define Y2016_CONSTANTS_H_
#include <stdint.h>
-#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/shifter_hall_effect.h"
+#include "frc971/control_loops/state_feedback_loop.h"
-namespace y2014 {
+namespace y2016 {
namespace constants {
using ::frc971::constants::ShifterHallEffect;
@@ -20,14 +20,6 @@
// This structure contains current values for all of the things that change.
struct Values {
- // This is useful for representing the 2 sides of a hall effect sensor etc.
- struct AnglePair {
- // The angles for increasing values (posedge on lower, negedge on upper).
- double lower_angle, upper_angle;
- // The angles for decreasing values (negedge on lower, posedge on upper).
- double lower_decreasing_angle, upper_decreasing_angle;
- };
-
// The ratio from the encoder shaft to the drivetrain wheels.
double drivetrain_encoder_ratio;
@@ -36,7 +28,6 @@
double low_gear_ratio;
double high_gear_ratio;
ShifterHallEffect left_drive, right_drive;
- bool clutch_transmission;
double turn_width;
@@ -44,92 +35,6 @@
::std::function<StateFeedbackLoop<4, 2, 2>()> make_drivetrain_loop;
double drivetrain_max_speed;
-
- struct ZeroingConstants {
- // The number of samples in the moving average filter.
- int average_filter_size;
- // The difference in scaled units between two index pulses.
- double index_difference;
- // The absolute position in scaled units of one of the index pulses.
- double measured_index_position;
- // Value between 0 and 1 which determines a fraction of the index_diff
- // you want to use.
- double allowable_encoder_error;
- };
-
- // Defines a range of motion for a subsystem.
- // These are all absolute positions in scaled units.
- struct Range {
- double lower_limit;
- double upper_limit;
- double lower_hard_limit;
- double upper_hard_limit;
- };
-
- struct Shooter {
- double lower_limit;
- double upper_limit;
- double lower_hard_limit;
- double upper_hard_limit;
- // If the plunger is further back than this position, it is safe for the
- // latch to be down. Anything else would be considered a collision.
- double latch_max_safe_position;
- AnglePair plunger_back;
- AnglePair pusher_distal;
- AnglePair pusher_proximal;
- double zeroing_speed;
- double unload_speed;
- };
-
- Shooter shooter;
-
- struct Claws {
- double claw_zeroing_off_speed;
- double claw_zeroing_speed;
- double claw_zeroing_separation;
-
- // claw separation that would be considered a collision
- double claw_min_separation;
- double claw_max_separation;
-
- // We should never get closer/farther than these.
- double soft_min_separation;
- double soft_max_separation;
-
- // Three hall effects are known as front, calib and back
- typedef Values::AnglePair AnglePair;
-
- struct Claw {
- double lower_hard_limit;
- double upper_hard_limit;
- double lower_limit;
- double upper_limit;
- AnglePair front;
- AnglePair calibration;
- AnglePair back;
- };
-
- Claw upper_claw;
- Claw lower_claw;
-
- double claw_unimportant_epsilon;
- double start_fine_tune_pos;
- double max_zeroing_voltage;
- };
- Claws claw;
-
- // Has all the constants for the ShootAction class.
- struct ShooterAction {
- // Minimum separation required between the claws in order to be able to
- // shoot.
- double claw_shooting_separation;
-
- // Goal to send to the claw when opening it up in preparation for shooting;
- // should be larger than claw_shooting_separation so that we can shoot
- // promptly.
- double claw_separation_goal;
- };
- ShooterAction shooter_action;
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
@@ -141,6 +46,6 @@
const Values &GetValuesForTeam(uint16_t team_number);
} // namespace constants
-} // namespace y2014
+} // namespace y2016
-#endif // Y2014_CONSTANTS_H_
+#endif // Y2016_CONSTANTS_H_