Set dummy intake constants
Signed-off-by: Yash Chainani <yashchainani28@gmail.com>
Change-Id: I9729322dbc5bdc161550a34bfaf3a27714784a48
diff --git a/y2022/constants.h b/y2022/constants.h
index 050a363..050c5c7 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -9,6 +9,7 @@
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2022/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+#include "y2022/control_loops/superstructure/intake/intake_plant.h"
namespace y2022 {
namespace constants {
@@ -32,6 +33,19 @@
static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ intake;
+
+ // TODO (Yash): Constants need to be tuned
+ static constexpr ::frc971::constants::Range kIntakeRange() {
+ return ::frc971::constants::Range{
+ .lower_hard = -0.5, // Back Hard
+ .upper_hard = 2.85 + 0.05, // Front Hard
+ .lower = -0.300, // Back Soft
+ .upper = 2.725 // Front Soft
+ };
+ }
// Climber
static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }