Remove Potentiometer from Intake Pivot
Changed the intake pivot from a pot and absolute
encoder subsystem to just an absolute encoder subsystem
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I9440cc1716420ca22c776db22e7694f2c1448aeb
diff --git a/y2024/constants.h b/y2024/constants.h
index 8eac0c9..1d0f5d3 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -59,13 +59,6 @@
return (16.0 / 64.0) * (18.0 / 62.0);
}
- static constexpr double kIntakePivotPotRatio() { return 16.0 / 64.0; }
-
- static constexpr double kIntakePivotPotRadiansPerVolt() {
- return kIntakePivotPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
- (2 * M_PI /*radians*/);
- }
-
static constexpr double kMaxIntakePivotEncoderPulsesPerSecond() {
return control_loops::superstructure::intake_pivot::kFreeSpeed /
(2.0 * M_PI) *
@@ -102,6 +95,12 @@
subsystem_params;
double potentiometer_offset;
};
+
+ struct AbsoluteEncoderConstants {
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
+ subsystem_params;
+ };
};
// Creates and returns a Values instance for the constants.