commit 7c473cbbae993761e3c491b699d6d3152d6da0a6
author Austin Schuh <austin.linux@gmail.com> Sun Feb 10 14:49:19 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 10 15:40:46 2019 -0800
tree 52169b383f6022a71358f7cf07c9a51374a66050
parent 277a4df9bb01607a6770cc3e97d4f80e4fd40f5a

Add the ranges for the subsystems

Change-Id: I6e2c2aba2b677c729718e4c92219ca80af1c9a49

y2019/constants.h

diff --git a/y2019/constants.h b/y2019/constants.h
index 5e1de7b..21c061c 100644
--- a/y2019/constants.h
+++ b/y2019/constants.h
@@ -59,6 +59,15 @@
     return (1.0) * control_loops::superstructure::elevator::kRadius;
   }
 
+  static constexpr ::frc971::constants::Range kElevatorRange() {
+    return ::frc971::constants::Range{
+        0.0,    // Bottom Hard
+        1.44,   // Top Hard
+        0.025,  // Bottom Soft
+        1.415   // Top Soft
+    };
+  }
+
   // Intake
   static constexpr double kIntakeEncoderCountsPerRevolution() { return 4096.0; }
 
@@ -71,6 +80,15 @@
            kIntakeEncoderCountsPerRevolution();
   }
 
+  static constexpr ::frc971::constants::Range kIntakeRange() {
+    return ::frc971::constants::Range{
+        -1.15,  // Back Hard
+        1.36,   // Front Hard
+        -1.14,  // Back Soft
+        1.22    // Front Soft
+    };
+  }
+
   // Wrist
   static constexpr double kWristEncoderCountsPerRevolution() { return 4096.0; }
 
@@ -87,6 +105,15 @@
 
   static constexpr double kWristPotRatio() { return (24.0) / (84.0); }
 
+  static constexpr ::frc971::constants::Range kWristRange() {
+    return ::frc971::constants::Range{
+        -3.14,  // Back Hard
+        2.58,   // Front Hard
+        -2.97,  // Back Soft
+        2.41    // Front Soft
+    };
+  }
+
   // Stilts
   static constexpr double kStiltsEncoderCountsPerRevolution() { return 4096.0; }
 
@@ -107,6 +134,15 @@
            control_loops::superstructure::stilts::kRadius;
   }
 
+  static constexpr ::frc971::constants::Range kStiltsRange() {
+    return ::frc971::constants::Range{
+        -0.026,  // Top Hard
+        0.693,   // Bottom Hard
+        -0.02,   // Top Soft
+        0.673    // Bottom Soft
+    };
+  }
+
   struct PotAndAbsConstants {
     ::frc971::constants::PotAndAbsoluteEncoderZeroingConstants zeroing;
     double potentiometer_offset;