Add constants
- Updated constants to correct values.
Change-Id: I62c7678e638cd0564605bc0824909532fc1bc854
diff --git a/y2017/constants.h b/y2017/constants.h
index 1017dcd..92df517 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -2,6 +2,9 @@
#define Y2017_CONSTANTS_H_
#include <stdint.h>
+#include <math.h>
+
+#include "frc971/constants.h"
namespace y2017 {
namespace constants {
@@ -17,15 +20,83 @@
struct Values {
// ///// Mutual constants between robots. /////
// TODO(constants): Update/check these with what we're using this year.
+
static const int kZeroingSampleSize = 200;
// The ratio from the encoder shaft to the drivetrain wheels.
- // TODO(constants): Fix this.
- static constexpr double kDrivetrainEncoderRatio =
- (18.0 / 36.0) /*output reduction*/ * (44.0 / 30.0) /*encoder gears*/;
+ static constexpr double kDrivetrainEncoderRatio = 1.0 ;
+
+ // Ratios for our subsystems.
+ static constexpr double kShooterEncoderRatio = 32.0 / 48.0; //Encoder rotation to shooter wheel revolution
+ static constexpr double kIntakeEncoderRatio = (16 * 0.25) * (20 / 40) / (2.0 * numpy.pi) * 0.0254; //Encoder rotation per Meter(inch per radian) of movement
+ static constexpr double kIntakePotRatio = (16 * 0.25) / (2.0 * numpy.pi) * 0.0254; //Pot Rotation per Meter(inch per radian) of movement
+ static constexpr double kHoodEncoderRatio = 20.0 / 345.0; //Encoder rotation to Hood rotation
+ static constexpr double kHoodPotRatio = 20.0 / 345.0; //Pot Rotation per Hood rotation
+ static constexpr double kTurretEncoderRatio = 16.0 / 92.0; //Encoder rotation toTurret rotation
+ static constexpr double kTurretPotRatio = 16.0 / 92.0; //Pot Rotation per Turret rotation
+ static constexpr double kIndexerEncoderRatio = (18.0 / 36.0) * (12.0 / 84.0); //Encoder rotation to Inner indexer rotation
+
+ // Difference in radians between index pulses.
+ static constexpr double kIntakeEncoderIndexDifference =
+ 2.0 * M_PI * kIntakeEncoderRatio;
+ static constexpr double kIndexerEncoderIndexDifference =
+ 2.0 * M_PI * kIndexerEncoderRatio;
+ static constexpr double kTurretEncoderIndexDifference =
+ 2.0 * M_PI * kTurretEncoderRatio;
+ static constexpr double kHoodEncoderIndexDifference =
+ 2.0 * M_PI * kHoodEncoderRatio;
+
+ static constexpr ::frc971::constants::Range kIntakeRange{
+ // Lower hard stop in meters(inches)
+ -0.600 * 0.0254,
+ // Upper hard stop
+ 8.655 * 0.0254,
+ // Lower soft stop
+ 0.000,
+ // Upper soft stop
+ 8.530 * 0.0254};
+ static constexpr ::frc971::constants::Range kHoodRange{
+ // Lower hard stop in radians
+ -1.0 / 345.0 * 2.0 * M_PI,
+ // Upper hard stop in radians
+ 39.0 / 345.0 * 2.0 * M_PI,
+ // Lower soft stop in radians
+ 0.0,
+ // Upper soft stop in radians
+ (39.0 - 1.0) / 345.0 * 2.0 * M_PI};
+ static constexpr ::frc971::constants::Range kTurretRange{
+ // Lower hard stop in radians
+ -460.0 / 2.0 * M_PI / 180.0,
+ // Upper hard stop in radians
+ 460.0 / 2.0 * M_PI / 180.0,
+ // Lower soft stop in radians
+ -450.0 / 2.0 * M_PI / 180.0,
+ // Upper soft stop in radians
+ 450.0 / 2.0 * M_PI / 180.0};
// ///// Dynamic constants. /////
+ double drivetrain_max_speed;
+
+ struct Intake {
+ double pot_offset;
+ ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
+ };
+ Intake intake;
+
+ struct Turret {
+ double pot_offset;
+ ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
+ };
+ Turret turret;
+
+ struct Hood {
+ double pot_offset;
+ ::frc971::constants::PotAndIndexPulseZeroingConstants zeroing;
+ };
+ Hood hood;
+
double down_error;
+ const char *vision_name;
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and