Fix hood geometry error
The ballscrew was a 1/2", not 12mm. This works out perfectly to the
error.
Change-Id: I3a2de882a7a56e4f96ba7e632d179204a10f89e8
diff --git a/y2020/constants.h b/y2020/constants.h
index 81e6dd0..e55a70b 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -44,12 +44,11 @@
// 10.211 in of travel gets you 1 radian on the output
const double radians_per_in_travel = 1.0 / 10.211;
- // one turn on the leadscrew gets you 12.0 mm travel
- const double mm_travel_per_radian = 12.0 / (2.0 * M_PI);
- const double in_travel_per_radian = mm_travel_per_radian / 25.4;
+ // one turn on the leadscrew gets you 0.5 in travel
+ const double in_travel_per_radian = 0.5 / (2.0 * M_PI);
// units reduce; radians on the encoder * this number = radians on the hood
- return in_travel_per_radian * radians_per_in_travel / 0.94816;
+ return in_travel_per_radian * radians_per_in_travel;
}
static constexpr double kHoodSingleTurnEncoderRatio() { return 8.0 / 72.0; }