commit 9a83336c3be3ec201da05662719296aa57497c2f
author Philipp Schrader <philipp.schrader@gmail.com> Sun Apr 09 22:56:16 2017 +0000
committer Philipp Schrader <philipp.schrader@gmail.com> Mon Apr 10 00:41:49 2017 +0000
tree 60067a253a3410106e2395320a88516d9d848d01
parent e8ad638ca05940a85b001ab2b92758921d3c59dc

Add interpolation table to y2017 constants

The next patch will make use of this for determining the actual hood
and turret angles.

Change-Id: I9f956306b5795652148cdfbbe588c598d9c72a43

y2017/BUILD

diff --git a/y2017/BUILD b/y2017/BUILD
index a6a0f0b..11b965e 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -15,6 +15,7 @@
     '//aos/common:mutex',
     '//aos/common:once',
     '//frc971:constants',
+    '//frc971/shooter_interpolation:interpolation',
     '//y2017/control_loops/drivetrain:polydrivetrain_plants',
     '//y2017/control_loops/superstructure/column:column_plants',
     '//y2017/control_loops/superstructure/hood:hood_plants',

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 536a072..d0e5c6f 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -64,6 +64,7 @@
   Values::Intake *const intake = &r->intake;
   Values::Hood *const hood = &r->hood;
   Values::Column *const column = &r->column;
+  auto shot_interpolation_table = &r->shot_interpolation_table;
 
   r->drivetrain_max_speed = 5;
 
@@ -85,6 +86,15 @@
   hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;
   hood->zeroing.known_index_pulse = 0;
 
+  // TODO(phil): Should these be different per robot?
+  *shot_interpolation_table =
+      ::frc971::shooter_interpolation::InterpolationTable(
+          {// { distance_to_target, { shot_angle, shot_power }},
+           {100.1, {20.0 * M_PI / 180.0, 335.0}},
+           {150.2, {35.0 * M_PI / 180.0, 384.0}},
+           {200.3, {40.0 * M_PI / 180.0, 417.0}},
+          });
+
   switch (team) {
     // A set of constants for tests.
     case 1:

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index 1d6eede..c6aa70c 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -5,6 +5,7 @@
 #include <math.h>
 
 #include "frc971/constants.h"
+#include "frc971/shooter_interpolation/interpolation.h"
 
 #include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
 #include "y2017/control_loops/superstructure/column/column_plant.h"
@@ -125,6 +126,8 @@
   const char *vision_name;
 
   double vision_error;
+
+  ::frc971::shooter_interpolation::InterpolationTable shot_interpolation_table;
 };
 
 // Creates (once) a Values instance for ::aos::network::GetTeamNumber() and