Added a start at a fridge.
Change-Id: I5bab9686f966368161ede528ff7abf038d7bcb9a
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 696d941..3beedfb 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -67,6 +67,9 @@
const double kElevatorGearboxOutputRotationDistance =
kElevatorGearboxOutputPulleyTeeth * kElevatorGearboxOutputPitch;
+const double kMaxAllowedLeftRightArmDifference = 0.01; // radians
+const double kMaxAllowedLeftRightElevatorDifference = 0.01; // meters
+
// Number of radians between each index pulse on the arm.
const double kArmEncoderIndexDifference = 2 * M_PI * kArmEncoderRatio;
@@ -118,6 +121,7 @@
{
// Elevator values, in meters.
+ // TODO(austin): Fix this. Positive is up.
// 0 is at the top of the elevator frame.
// Positive is down towards the drivebase.
{0.0000000000, 0.6790000000,
@@ -126,10 +130,13 @@
// Arm values, in radians.
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
- {0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
- }
+ {-1.570000000, 1.5700000000,
+ -1.200000000, 1.2000000000}
+ },
// End "sensor" values.
+
+ kMaxAllowedLeftRightArmDifference,
+ kMaxAllowedLeftRightElevatorDifference,
};
break;
case kCompTeamNumber:
@@ -178,10 +185,13 @@
// Arm values, in radians.
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
- {0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
- }
+ {-1.570000000, 1.5700000000,
+ -1.200000000, 1.2000000000}
+ },
// End "sensor" values.
+
+ kMaxAllowedLeftRightArmDifference,
+ kMaxAllowedLeftRightElevatorDifference,
};
break;
case kPracticeTeamNumber:
@@ -231,10 +241,13 @@
// Arm values, in radians.
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
- {0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
- }
+ {-1.570000000, 1.5700000000,
+ -1.200000000, 1.2000000000}
+ },
// TODO(sensors): End "sensor" values.
+
+ kMaxAllowedLeftRightArmDifference,
+ kMaxAllowedLeftRightElevatorDifference,
};
break;
default: