Added hood constants to the file
Change-Id: I49c3b05794f0de59faaa739f7a6c233339053aea
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