commit 877bd025f0214434e7d21702cd5f3d268ca7d556
author Milind Upadhyay <milind.upadhyay@gmail.com> Sun Mar 06 14:53:08 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Fri Mar 11 21:31:03 2022 -0800
tree 550a17caad6236d0c6b6771c96e89bb10bc10410
parent 7b8bc2999ccbb31697d293a43d0bfc4b52eeb3f4

Remove untuned and unused 2022 constants

We decided not to use constants.h in joystick reader because changing
anything would result in having to rebuild everything.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Icc2f5cf1eb49e4562dfec79883b17a3f5a685ddd

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index 865a0e6..c824076 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -48,9 +48,6 @@
     return 22 * 0.25 * 0.0254;
   }
   static constexpr double kClimberPotRatio() { return 1.0; }
-  // TODO(milind): figure this out
-  // Climber position when it's comfortably above the mid rung.
-  static constexpr double kClimberMidRungHeight() { return 1.0; }
 
   struct PotConstants {
     ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
@@ -97,12 +94,6 @@
     };
   }
 
-  // When the intake is atleast this much out, always spin the rollers
-  static constexpr double kIntakeSlightlyOutPosition() {
-    return kIntakeRange().middle();
-  }
-  static constexpr double kIntakeOutPosition() { return 1.24; }
-
   // Intake rollers
   static constexpr double kIntakeRollerSupplyCurrentLimit() { return 40.0; }
   static constexpr double kIntakeRollerStatorCurrentLimit() { return 60.0; }
@@ -113,11 +104,6 @@
   // Voltage to wiggle the transfer rollers and keep a ball in.
   static constexpr double kTransferRollerWiggleVoltage() { return 3.0; }
 
-  // Minimum roller speed when the intake is slightly out
-  static constexpr double kMinIntakeSlightlyOutRollerSpeed() { return 6.0; }
-  // Roller speeds when intake is out
-  static constexpr double kIntakeOutRollerSpeed() { return 7.0; }
-
   // Turret
   PotAndAbsEncoderConstants turret;
 
@@ -200,9 +186,6 @@
   static constexpr double kCatapultEncoderCountsPerRevolution() {
     return 4096.0;
   }
-  static constexpr double kDefaultCatapultShotPosition() { return 3.0; }
-  static constexpr double kDefaultCatapultShotVelocity() { return 3.0; }
-  static constexpr double kCatapultReturnPosition() { return -0.85; }
 
   static constexpr double kMaxCatapultEncoderPulsesPerSecond() {
     return control_loops::superstructure::catapult::kFreeSpeed / (2.0 * M_PI) *

y2022/setpoint_setter.cc

diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
index 9a77ec8..8ec1015 100644
--- a/y2022/setpoint_setter.cc
+++ b/y2022/setpoint_setter.cc
@@ -2,15 +2,10 @@
 #include "aos/init.h"
 #include "gflags/gflags.h"
 #include "glog/logging.h"
-#include "y2022/constants.h"
 #include "y2022/setpoint_generated.h"
 
-DEFINE_double(catapult_position,
-              y2022::constants::Values::kDefaultCatapultShotPosition(),
-              "Catapult shot position");
-DEFINE_double(catapult_velocity,
-              y2022::constants::Values::kDefaultCatapultShotVelocity(),
-              "Catapult shot velocity");
+DEFINE_double(catapult_position, 0.3, "Catapult shot position");
+DEFINE_double(catapult_velocity, 15.0, "Catapult shot velocity");
 DEFINE_double(turret, 0.0, "Turret setpoint");
 
 using y2022::input::joysticks::Setpoint;