Add climber wpilib interface
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I81a101cb000375b9753b170467bd21bb17c16482
diff --git a/y2024/constants.h b/y2024/constants.h
index 2462bd5..8eac0c9 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -11,6 +11,7 @@
#include "frc971/zeroing/absolute_encoder.h"
#include "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2024/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2024/control_loops/superstructure/climber/climber_plant.h"
#include "y2024/control_loops/superstructure/intake_pivot/intake_pivot_plant.h"
namespace y2024::constants {
@@ -73,6 +74,28 @@
kIntakePivotEncoderCountsPerRevolution();
}
+ // TODO(Filip): Update climber values once we have them.
+ static constexpr double kClimberEncoderCountsPerRevolution() {
+ return 4096.0;
+ }
+
+ static constexpr double kClimberEncoderRatio() {
+ return (16.0 / 64.0) * (18.0 / 62.0);
+ }
+
+ static constexpr double kClimberPotRatio() { return 16.0 / 64.0; }
+
+ static constexpr double kClimberPotRadiansPerVolt() {
+ return kClimberPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
+ (2 * M_PI /*radians*/);
+ }
+
+ static constexpr double kMaxClimberEncoderPulsesPerSecond() {
+ return control_loops::superstructure::climber::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::superstructure::climber::kOutputRatio /
+ kClimberEncoderRatio() * kClimberEncoderCountsPerRevolution();
+ }
+
struct PotAndAbsEncoderConstants {
::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>