commit a587fbd52c35295cd5dfe3be69973cff3f55dc22
author Sabina Davis <sabina1109@gmail.com> Fri Jan 31 22:11:15 2020 -0800
committer Sabina Davis <sabina1109@gmail.com> Sun Feb 02 15:59:00 2020 -0800
tree 70a3c88d6510bbd9542b1e5d8db785004e33caa5
parent 24d94e0e24f885c27f373e77b44067ddf1af697e

Added hood constants to the file

Change-Id: I49c3b05794f0de59faaa739f7a6c233339053aea

y2020/BUILD

diff --git a/y2020/BUILD b/y2020/BUILD
index 58788d4..1d281bb 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -33,6 +33,7 @@
         "//frc971/control_loops:pose",
         "//frc971/control_loops:static_zeroing_single_dof_profiled_subsystem",
         "//y2020/control_loops/drivetrain:polydrivetrain_plants",
+        "//y2020/control_loops/superstructure/hood:hood_plants",
         "@com_google_absl//absl/base",
     ],
 )

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index 70876c3..a16b2f1 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -13,6 +13,8 @@
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
 
+#include "y2020/control_loops/superstructure/hood/integral_hood_plant.h"
+
 namespace y2020 {
 namespace constants {
 
@@ -26,6 +28,25 @@
 
 const Values *DoGetValuesForTeam(uint16_t team) {
   Values *const r = new Values();
+  ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+      ::frc971::zeroing::AbsoluteEncoderZeroingEstimator> *const hood =
+      &r->hood;
+
+  // Hood constants.
+  hood->zeroing_voltage = 3.0;
+  hood->operating_voltage = 12.0;
+  hood->zeroing_profile_params = {0.5, 3.0};
+  hood->default_profile_params = {6.0, 30.0};
+  hood->range = Values::kHoodRange();
+  hood->make_integral_loop =
+      control_loops::superstructure::hood::MakeIntegralHoodLoop;
+  hood->zeroing_constants.average_filter_size = Values::kZeroingSampleSize;
+  hood->zeroing_constants.one_revolution_distance =
+      M_PI * 2.0 * constants::Values::kHoodEncoderRatio();
+  hood->zeroing_constants.zeroing_threshold = 0.0005;
+  hood->zeroing_constants.moving_buffer_size = 20;
+  hood->zeroing_constants.allowable_encoder_error = 0.9;
+  hood->zeroing_constants.middle_position = Values::kHoodRange().middle();
 
   switch (team) {
     // A set of constants for tests.
@@ -33,12 +54,15 @@
       break;
 
     case kCompTeamNumber:
+      hood->zeroing_constants.measured_absolute_position = 0.0;
       break;
 
     case kPracticeTeamNumber:
+      hood->zeroing_constants.measured_absolute_position = 0.0;
       break;
 
     case kCodingRobotTeamNumber:
+      hood->zeroing_constants.measured_absolute_position = 0.0;
       break;
 
     default:

y2020/constants.h

diff --git a/y2020/constants.h b/y2020/constants.h
index 2e915f9..47b8543 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/hood/hood_plant.h"
 
 namespace y2020 {
 namespace constants {
@@ -28,6 +29,32 @@
            constants::Values::kDrivetrainEncoderRatio() *
            kDrivetrainEncoderCountsPerRevolution();
   }
+
+  // Hood
+  static constexpr double kHoodEncoderCountsPerRevolution() { return 4096.0; }
+
+  //TODO(sabina): Update constants
+  static constexpr double kHoodEncoderRatio() { return 1.0; }
+
+  static constexpr double kMaxHoodEncoderPulsesPerSecond() {
+    return control_loops::superstructure::hood::kFreeSpeed *
+           control_loops::superstructure::hood::kOutputRatio /
+           kHoodEncoderRatio() / (2.0 * M_PI) *
+           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
+    };
+  }
+
+  ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+      ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
+      hood;
 };
 
 // Creates (once) a Values instance for ::aos::network::GetTeamNumber() and