commit 8f0e07f8f36721484cf83badd46ca6cb65f3a354
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 08 21:10:58 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 18 14:16:05 2023 -0800
tree 7c91f24d8b6fed3d7cc078c681404f3083aca04d
parent bc78ea9b807d9aeb3d061349c4165dfdc948bcff

Move 2018 arm code to frc971 and make dynamics adjustable

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I16e7bbb0d293aca461abc931f560fb9066b19aaf

y2018/constants.h

diff --git a/y2018/constants.h b/y2018/constants.h
index 16f1f8c..2a6f0ac 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -6,7 +6,8 @@
 
 #include "frc971/constants.h"
 #include "y2018/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2018/control_loops/superstructure/arm/dynamics.h"
+#include "frc971/control_loops/double_jointed_arm/dynamics.h"
+#include "y2018/control_loops/superstructure/arm/arm_constants.h"
 #include "y2018/control_loops/superstructure/intake/intake_plant.h"
 
 namespace y2018 {
@@ -49,8 +50,8 @@
     return (12.0 / 60.0) * (18.0 / 84.0);
   }
   static constexpr double kMaxProximalEncoderPulsesPerSecond() {
-    return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
-           (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG1 /
+    return control_loops::superstructure::arm::kArmConstants.free_speed /
+           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
            kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kProximalPotRatio() { return (12.0 / 60.0); }
@@ -58,8 +59,8 @@
   static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
   static constexpr double kDistalEncoderRatio() { return (12.0 / 60.0); }
   static constexpr double kMaxDistalEncoderPulsesPerSecond() {
-    return control_loops::superstructure::arm::Dynamics::kFreeSpeed /
-           (2.0 * M_PI) / control_loops::superstructure::arm::Dynamics::kG2 /
+    return control_loops::superstructure::arm::kArmConstants.free_speed /
+           (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g2 /
            kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kDistalPotRatio() {