commit 79900c24f61f6126713e5f5f637ed003a271b351
author Adam Snaider <adsnaider@gmail.com> Wed Feb 08 20:23:15 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 17 22:10:10 2017 -0800
tree c63a5c2fcbc331b759476b97d7fb1521d7291def
parent 5f01f15ed8d252276aac022a3642ca1bdf50acff

Added turret and intake code and tests.

Tests are from Adam.

Change-Id: I5a89700cfe2e9983771b4523facc302243b5dc50

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index 2c8916f..1ad582b 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -29,12 +29,12 @@
 struct Values {
   struct Intake {
     double pot_offset;
-    ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
+    ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants zeroing;
   };
 
   struct Turret {
     double pot_offset;
-    ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
+    ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants zeroing;
   };
 
   struct Hood {
@@ -86,8 +86,8 @@
       control_loops::superstructure::hood::kFreeSpeed * control_loops::superstructure::hood::kOutputRatio /
       constants::Values::kHoodEncoderRatio * kHoodEncoderCountsPerRevolution;
   static constexpr ::frc971::constants::Range kHoodRange{
-      -0.39 * M_PI / 2.0, 37.11 * M_PI / 2.0, (-0.39 + 1.0) * M_PI / 2.0,
-      (37.11 - 1.0) * M_PI / 2.0};
+      -0.39 * M_PI / 180.0, 37.11 * M_PI / 180.0, (-0.39 + 1.0) * M_PI / 180.0,
+      (37.11 - 1.0) * M_PI / 180.0};
 
   static constexpr double kTurretEncoderCountsPerRevolution = 1024 * 4;
   static constexpr double kTurretEncoderRatio = 16.0 / 92.0;