| {% set pi = 3.14159265 %} | |
| {# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #} | |
| {% set intake_pivot_encoder_ratio = (16.0 / 64.0) * (18.0 / 62.0) %} | |
| {%set zeroing_sample_size = 200 %} | |
| {% | |
| set intake_pivot_zero = { | |
| "average_filter_size": zeroing_sample_size, | |
| "one_revolution_distance": pi * 2.0 * intake_pivot_encoder_ratio, | |
| "zeroing_threshold": 0.0005, | |
| "moving_buffer_size": 20, | |
| "allowable_encoder_error": 0.9 | |
| } | |
| %} |