Update the sensor ratios
Pull sensor output ratios from the cad. This process found that the
hood was being operated in such a way that the hood encoder was blowing
past 360 degrees and wrapping. So fix that too.
Change-Id: I896458bb81461e7f032a464faa0b78e07d257c10
diff --git a/y2020/constants.h b/y2020/constants.h
index 16a3e8b..ed58777 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -10,7 +10,9 @@
#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/accelerator/accelerator_plant.h"
#include "y2020/control_loops/superstructure/control_panel/control_panel_plant.h"
+#include "y2020/control_loops/superstructure/finisher/finisher_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"
@@ -25,10 +27,10 @@
static constexpr double kDrivetrainEncoderCountsPerRevolution() {
return kDrivetrainCyclesPerRevolution() * 4;
}
- static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
+ static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
- control_loops::drivetrain::kHighOutputRatio /
+ control_loops::drivetrain::kHighGearRatio /
constants::Values::kDrivetrainEncoderRatio() *
kDrivetrainEncoderCountsPerRevolution();
}
@@ -36,22 +38,20 @@
// Hood
static constexpr double kHoodEncoderCountsPerRevolution() { return 4096.0; }
- // TODO(sabina): Update constants
- static constexpr double kHoodEncoderRatio() { return 1.0; }
+ static constexpr double kHoodEncoderRatio() { return 8.0 / 72.0; }
static constexpr double kMaxHoodEncoderPulsesPerSecond() {
- return control_loops::superstructure::hood::kFreeSpeed *
+ return control_loops::superstructure::hood::kFreeSpeed / (2.0 * M_PI) *
control_loops::superstructure::hood::kOutputRatio /
- kHoodEncoderRatio() / (2.0 * M_PI) *
- kHoodEncoderCountsPerRevolution();
+ kHoodEncoderRatio() * kHoodEncoderCountsPerRevolution();
}
static constexpr ::frc971::constants::Range kHoodRange() {
return ::frc971::constants::Range{
- 0.00, // Back Hard
- 0.79, // Front Hard
- 0.14, // Back Soft
- 0.78 // Front Soft
+ -0.01, // Back Hard
+ 0.65, // Front Hard
+ 0.0, // Back Soft
+ 0.64 // Front Soft
};
}
@@ -65,10 +65,9 @@
static constexpr double kIntakeEncoderRatio() { return (16.0 / 32.0); }
static constexpr double kMaxIntakeEncoderPulsesPerSecond() {
- return control_loops::superstructure::intake::kFreeSpeed *
+ return control_loops::superstructure::intake::kFreeSpeed / (2.0 * M_PI) *
control_loops::superstructure::intake::kOutputRatio /
- kIntakeEncoderRatio() / (2.0 * M_PI) *
- kIntakeEncoderCountsPerRevolution();
+ kIntakeEncoderRatio() * kIntakeEncoderCountsPerRevolution();
}
// TODO(sabina): update range
@@ -92,18 +91,16 @@
static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
static constexpr double kTurretEncoderRatio() {
- return 1.0; // TODO (Kai): Get Gear Ratios when ready
+ return (26.0 / 150.0) * (130.0 / 40.0);
}
static constexpr double kMaxTurretEncoderPulsesPerSecond() {
- return control_loops::superstructure::turret::kFreeSpeed *
+ return control_loops::superstructure::turret::kFreeSpeed / (2.0 * M_PI) *
control_loops::superstructure::turret::kOutputRatio /
- kTurretEncoderRatio() / (2.0 * M_PI) *
- kTurretEncoderCountsPerRevolution();
+ kTurretEncoderRatio() * kTurretEncoderCountsPerRevolution();
}
- // TODO(austin): Figure out the actual constant here.
- static constexpr double kTurretPotRatio() { return 1.0; }
+ static constexpr double kTurretPotRatio() { return (26.0 / 150.0); }
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
@@ -135,23 +132,40 @@
static constexpr double kControlPanelEncoderRatio() { return (56.0 / 28.0); }
static constexpr double kMaxControlPanelEncoderPulsesPerSecond() {
- return control_loops::superstructure::control_panel::kFreeSpeed *
+ return control_loops::superstructure::control_panel::kFreeSpeed /
+ (2.0 * M_PI) *
control_loops::superstructure::control_panel::kOutputRatio /
- kControlPanelEncoderRatio() / (2.0 * M_PI) *
+ kControlPanelEncoderRatio() *
kControlPanelEncoderCountsPerRevolution();
}
// Shooter
- // TODO: Get actual constants.
static constexpr double kFinisherEncoderCountsPerRevolution() {
return 4096.0;
}
- static constexpr double kFinisherEncoderRatio() { return 1.0; }
+ static constexpr double kFinisherEncoderRatio() { return 30.0 / 40.0; }
+
+ static constexpr double kMaxFinisherEncoderPulsesPerSecond() {
+ return control_loops::superstructure::finisher::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::superstructure::finisher::kOutputRatio /
+ kFinisherEncoderRatio() * kFinisherEncoderCountsPerRevolution();
+ }
+
static constexpr double kAcceleratorEncoderCountsPerRevolution() {
return 4096.0;
}
- static constexpr double kAcceleratorEncoderRatio() { return 1.0; }
+ static constexpr double kAcceleratorEncoderRatio() {
+ return (1.2 * 1.2 * 1.2) * (30.0 / 40.0);
+ }
+
+ static constexpr double kMaxAcceleratorEncoderPulsesPerSecond() {
+ return control_loops::superstructure::accelerator::kFreeSpeed /
+ (2.0 * M_PI) *
+ control_loops::superstructure::accelerator::kOutputRatio /
+ kAcceleratorEncoderRatio() *
+ kAcceleratorEncoderCountsPerRevolution();
+ }
// Climber
static constexpr double kClimberSupplyCurrentLimit() { return 60.0; }