Add constants for control panel
Change-Id: I9684d65564005f2624caa8e76d6227b1084b847f
diff --git a/y2020/BUILD b/y2020/BUILD
index 215c760..f0f87d2 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -36,6 +36,7 @@
"//y2020/control_loops/superstructure/hood:hood_plants",
"//y2020/control_loops/superstructure/intake:intake_plants",
"//y2020/control_loops/superstructure/turret:turret_plants",
+ "//y2020/control_loops/superstructure/control_panel:control_panel_plants",
"@com_google_absl//absl/base",
],
)
diff --git a/y2020/constants.cc b/y2020/constants.cc
index 6f79b6b..cc5c1fb 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -12,6 +12,7 @@
#include "aos/logging/logging.h"
#include "aos/mutex/mutex.h"
#include "aos/network/team_number.h"
+#include "y2020/control_loops/superstructure/control_panel/integral_control_panel_plant.h"
#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
#include "y2020/control_loops/superstructure/intake/integral_intake_plant.h"
#include "y2020/control_loops/superstructure/turret/integral_turret_plant.h"
@@ -74,7 +75,7 @@
::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
*const turret_params = &turret->subsystem_params;
- //Turret Constants
+ // Turret Constants
turret_params->zeroing_voltage = 4.0;
turret_params->operating_voltage = 12.0;
// TODO(austin): Tune these.
@@ -149,8 +150,8 @@
static ::aos::Mutex mutex;
::aos::MutexLocker locker(&mutex);
- // IMPORTANT: This declaration has to stay after the mutex is locked to avoid
- // race conditions.
+ // IMPORTANT: This declaration has to stay after the mutex is locked to
+ // avoid race conditions.
static ::std::map<uint16_t, const Values *> values;
if (values.count(team_number) == 0) {
diff --git a/y2020/constants.h b/y2020/constants.h
index d7b9b4b..07f75cf 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -10,6 +10,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2020/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2020/control_loops/superstructure/control_panel/control_panel_plant.h"
#include "y2020/control_loops/superstructure/hood/hood_plant.h"
#include "y2020/control_loops/superstructure/intake/intake_plant.h"
#include "y2020/control_loops/superstructure/turret/turret_plant.h"
@@ -119,6 +120,23 @@
};
PotAndAbsEncoderConstants turret;
+
+ // Control Panel
+
+ // Mag encoder
+ static constexpr double kControlPanelEncoderCountsPerRevolution() {
+ return 4096.0;
+ }
+
+ // Ratio is encoder to output
+ static constexpr double kControlPanelEncoderRatio() { return (56.0 / 28.0); }
+
+ static constexpr double kMaxControlPanelEncoderPulsesPerSecond() {
+ return control_loops::superstructure::control_panel::kFreeSpeed *
+ control_loops::superstructure::control_panel::kOutputRatio /
+ kControlPanelEncoderRatio() / (2.0 * M_PI) *
+ kControlPanelEncoderCountsPerRevolution();
+ }
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and