commit 9e3b31010b33aeac5be6d7754a8f85a009a3d54a
author Maxwell Henderson <mxwhenderson@gmail.com> Tue Feb 20 15:35:02 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Thu Feb 22 11:30:51 2024 -0800
tree f6e192ef8c4775f1dd2fca9fc69ec1a621115a76
parent 564f1c303217c4fcf8259a4eda6a27b9b2c9fdd0

Update sensor numbers in wpilib_interface

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ia0f9d41c5ecf6cf7ed4a1171677cc43fc3c0090d

y2024/constants.h

diff --git a/y2024/constants.h b/y2024/constants.h
index 3afc62c..925f8db 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -79,8 +79,9 @@
     return 16 * 0.25 * 0.0254;
   }
 
-  static constexpr double kClimberEncoderMetersPerRevolution() {
-    return kClimberEncoderRatio() * kClimberPotMetersPerRevolution();
+  static constexpr double kClimberEncoderMetersPerRadian() {
+    return kClimberEncoderRatio() * kClimberPotMetersPerRevolution() / 2.0 /
+           M_PI;
   }
 
   static constexpr double kClimberPotMetersPerVolt() {
@@ -119,8 +120,8 @@
   static constexpr double kExtendPotMetersPerRevolution() {
     return 36 * 0.005 * kExtendEncoderRatio();
   }
-  static constexpr double kExtendEncoderMetersPerRevolution() {
-    return kExtendPotMetersPerRevolution();
+  static constexpr double kExtendEncoderMetersPerRadian() {
+    return kExtendPotMetersPerRevolution() / 2.0 / M_PI;
   }
   static constexpr double kExtendPotMetersPerVolt() {
     return kExtendPotMetersPerRevolution() * (5.0 /*turns*/ / 5.0 /*volts*/);

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 6e75387..7e55780 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -166,15 +166,15 @@
 
       CopyPosition(climber_encoder_, builder->add_climber(),
                    Values::kClimberEncoderCountsPerRevolution(),
-                   Values::kClimberEncoderMetersPerRevolution(),
-                   climber_pot_translate, true,
+                   Values::kClimberEncoderMetersPerRadian(),
+                   climber_pot_translate, false,
                    robot_constants_->robot()
                        ->climber_constants()
                        ->potentiometer_offset());
 
       CopyPosition(extend_encoder_, builder->add_extend(),
-                   Values::kClimberEncoderCountsPerRevolution(),
-                   Values::kClimberEncoderMetersPerRevolution(),
+                   Values::kExtendEncoderCountsPerRevolution(),
+                   Values::kExtendEncoderMetersPerRadian(),
                    extend_pot_translate, true,
                    robot_constants_->robot()
                        ->extend_constants()
@@ -209,7 +209,7 @@
 
     SendDrivetrainPosition(drivetrain_position_sender_.MakeStaticBuilder(),
                            drivetrain_velocity_translate,
-                           constants::Values::DrivetrainEncoderToMeters, false,
+                           constants::Values::DrivetrainEncoderToMeters, true,
                            false);
 
     {
@@ -407,27 +407,28 @@
     ::aos::ShmEventLoop sensor_reader_event_loop(&config.message());
     SensorReader sensor_reader(&sensor_reader_event_loop, robot_constants);
     sensor_reader.set_pwm_trigger(true);
-    sensor_reader.set_drivetrain_left_encoder(make_encoder(1));
-    sensor_reader.set_drivetrain_right_encoder(make_encoder(0));
-    sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(0));
-    // TODO: (niko) change values once robot is wired
-    sensor_reader.set_intake_pivot(make_encoder(4),
-                                   make_unique<frc::DigitalInput>(4));
-    sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(7));
+    sensor_reader.set_drivetrain_left_encoder(
+        std::make_unique<frc::Encoder>(6, 7));
+    sensor_reader.set_drivetrain_right_encoder(
+        std::make_unique<frc::Encoder>(8, 9));
+    sensor_reader.set_yaw_rate_input(make_unique<frc::DigitalInput>(25));
+    sensor_reader.set_intake_pivot(make_encoder(3),
+                                   make_unique<frc::DigitalInput>(3));
+    sensor_reader.set_transfer_beambreak(make_unique<frc::DigitalInput>(23));
 
     sensor_reader.set_climber(make_encoder(5),
                               make_unique<frc::DigitalInput>(5),
                               make_unique<frc::AnalogInput>(5));
-    sensor_reader.set_extend(make_encoder(7), make_unique<frc::DigitalInput>(7),
-                             make_unique<frc::AnalogInput>(7));
-    sensor_reader.set_catapult(make_encoder(2),
-                               make_unique<frc::DigitalInput>(2),
-                               make_unique<frc::AnalogInput>(2));
-    sensor_reader.set_turret(make_encoder(3), make_unique<frc::DigitalInput>(3),
-                             make_unique<frc::AnalogInput>(3));
-    sensor_reader.set_altitude(make_encoder(6),
-                               make_unique<frc::DigitalInput>(6),
-                               make_unique<frc::AnalogInput>(6));
+    sensor_reader.set_extend(make_encoder(4), make_unique<frc::DigitalInput>(4),
+                             make_unique<frc::AnalogInput>(4));
+    sensor_reader.set_catapult(make_encoder(0),
+                               make_unique<frc::DigitalInput>(0),
+                               make_unique<frc::AnalogInput>(0));
+    sensor_reader.set_turret(make_encoder(2), make_unique<frc::DigitalInput>(2),
+                             make_unique<frc::AnalogInput>(2));
+    sensor_reader.set_altitude(make_encoder(1),
+                               make_unique<frc::DigitalInput>(1),
+                               make_unique<frc::AnalogInput>(1));
 
     AddLoop(&sensor_reader_event_loop);