Clean up and check constants.
Most of the changes are pretty minor. I got rid of some ugly stuff
and added real numbers for some things.
Change-Id: Iafb1a81323141fccc907f87b2da3f8118cb3d6ce
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 3beedfb..0f63ed2 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -31,14 +31,10 @@
// ///// Drivetrain Constants
-const double kCompDrivetrainEncoderRatio =
- (18.0 / 50.0) /*output reduction*/ * (56.0 / 30.0) /*encoder gears*/;
-const double kCompLowGearRatio = 18.0 / 60.0 * 18.0 / 50.0;
-const double kCompHighGearRatio = 28.0 / 50.0 * 18.0 / 50.0;
-
-const double kPracticeDrivetrainEncoderRatio = kCompDrivetrainEncoderRatio;
-const double kPracticeLowGearRatio = kCompLowGearRatio;
-const double kPracticeHighGearRatio = kCompHighGearRatio;
+// These three constants were set by Daniel on 2/13/15.
+const double kDrivetrainEncoderRatio = 20.0 / 64.0;
+const double kLowGearRatio = kDrivetrainEncoderRatio * 20.0 / 50.0;
+const double kHighGearRatio = kLowGearRatio;
const ShifterHallEffect kCompRightDriveShifter{555, 657, 660, 560, 0.2, 0.7};
const ShifterHallEffect kCompLeftDriveShifter{555, 660, 644, 552, 0.2, 0.7};
@@ -46,37 +42,40 @@
const ShifterHallEffect kPracticeRightDriveShifter{2.95, 3.95, 3.95, 2.95, 0.2, 0.7};
const ShifterHallEffect kPracticeLeftDriveShifter{2.95, 4.2, 3.95, 3.0, 0.2, 0.7};
-// TODO(sensors): Get actual robot width before turning on robot.
-const double kRobotWidth = 25.0 / 100.0 * 2.54;
-
+// Set by Daniel on 2/13/15.
+// Distance from the center of the left wheel to the center of the right wheel.
+const double kRobotWidth = 37.806 /*inches*/ * 0.0254;
// ///// Superstructure Constants
-// Gearing ratios of the pots and encoders for the elevator and arm.
-// Ratio is output shaft rotations per encoder/pot rotation
-const double kArmEncoderRatio = 18.0 / 48.0 * 16.0 / 72.0;
-// const double kArmPotRatio = 48.0 / 48.0 * 16.0 / 72.0;
-const double kElevatorEncoderRatio = 14.0 / 84.0;
-// const double kElevatorPotRatio = 1.0;
-const double kClawEncoderRatio = 18.0 / 72.0;
-// const double kClawPotRatio = 18.0/72.0;
-
// Elevator gearbox pulley output constants.
const int kElevatorGearboxOutputPulleyTeeth = 32; // 32 teeth
const double kElevatorGearboxOutputPitch = 0.005; // 5 mm/tooth
-const double kElevatorGearboxOutputRotationDistance =
- kElevatorGearboxOutputPulleyTeeth * kElevatorGearboxOutputPitch;
+const double kElevatorGearboxOutputRadianDistance =
+ kElevatorGearboxOutputPulleyTeeth * kElevatorGearboxOutputPitch /
+ (2.0 * M_PI);
const double kMaxAllowedLeftRightArmDifference = 0.01; // radians
const double kMaxAllowedLeftRightElevatorDifference = 0.01; // meters
+// Gearing ratios of the pots and encoders for the elevator and arm.
+// Ratio is output shaft rotations per encoder/pot rotation
+// Checked by Daniel on 2/13/15.
+const double kArmEncoderRatio = 18.0 / 48.0 * 16.0 / 72.0;
+const double kArmPotRatio = 48.0 / 48.0 * 16.0 / 72.0;
+const double kElevatorEncoderRatio = 14.0 / 84.0;
+const double kElevatorPotRatio = 1.0;
+const double kClawEncoderRatio = 18.0 / 72.0;
+const double kClawPotRatio = 18.0 / 72.0;
+
// Number of radians between each index pulse on the arm.
-const double kArmEncoderIndexDifference = 2 * M_PI * kArmEncoderRatio;
-
-// Number of meters betwen index pulses on the elevator.
+const double kArmEncoderIndexDifference = 2.0 * M_PI * kArmEncoderRatio;
+// Number of meters between each index pulse on the elevator.
const double kElevatorEncoderIndexDifference =
- kElevatorGearboxOutputRotationDistance * kElevatorEncoderRatio;
-
+ kElevatorEncoderRatio *
+ 2.0 * M_PI * // radians
+ kElevatorGearboxOutputRadianDistance;
+// Number of radians between index pulses on the claw.
const double kClawEncoderIndexDifference = 2.0 * M_PI * kClawEncoderRatio;
const int kZeroingSampleSize = 20;
@@ -85,9 +84,16 @@
switch (team) {
case 1: // for tests
return new Values{
- kCompDrivetrainEncoderRatio,
- kCompLowGearRatio,
- kCompHighGearRatio,
+ kDrivetrainEncoderRatio,
+ kArmEncoderRatio,
+ kArmPotRatio,
+ kElevatorEncoderRatio,
+ kElevatorPotRatio,
+ kElevatorGearboxOutputRadianDistance,
+ kClawEncoderRatio,
+ kClawPotRatio,
+ kLowGearRatio,
+ kHighGearRatio,
kCompLeftDriveShifter,
kCompRightDriveShifter,
false,
@@ -97,17 +103,6 @@
0.02, // drivetrain done delta
5.0, // drivetrain max speed
- // Zeroing constants: left arm, right arm, left elev, right elev
- {
- kZeroingSampleSize, kArmEncoderIndexDifference,
- // TODO(sensors): Get actual offsets before turning on robot.
- 0.0 /*index_offset_at_zero*/
- },
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
-
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
// TODO(sensors): Get actual bounds before turning on robot.
@@ -116,7 +111,11 @@
// 0 is level with the ground.
// Positive moves in the direction of positive encoder values.
{0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
+ 0.1000000000, 1.2000000000},
+
+ // Zeroing constants for wrist.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
},
{
@@ -131,7 +130,15 @@
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
{-1.570000000, 1.5700000000,
- -1.200000000, 1.2000000000}
+ -1.200000000, 1.2000000000},
+
+ // Elevator zeroing constants: left, right.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ // Arm zeroing constants: left, right.
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
},
// End "sensor" values.
@@ -141,9 +148,16 @@
break;
case kCompTeamNumber:
return new Values{
- kCompDrivetrainEncoderRatio,
- kCompLowGearRatio,
- kCompHighGearRatio,
+ kDrivetrainEncoderRatio,
+ kArmEncoderRatio,
+ kArmPotRatio,
+ kElevatorEncoderRatio,
+ kElevatorPotRatio,
+ kElevatorGearboxOutputRadianDistance,
+ kClawEncoderRatio,
+ kClawPotRatio,
+ kLowGearRatio,
+ kHighGearRatio,
kCompLeftDriveShifter,
kCompRightDriveShifter,
false,
@@ -153,17 +167,6 @@
0.02, // drivetrain done delta
5.0, // drivetrain max speed
- // Zeroing constants: left arm, right arm, left elev, right elev
- {
- kZeroingSampleSize, kArmEncoderIndexDifference,
- // TODO(sensors): Get actual offsets before turning on robot.
- 0.0 /*index_offset_at_zero*/
- },
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
-
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
// TODO(sensors): Get actual bounds before turning on robot.
@@ -172,7 +175,12 @@
// 0 is level with the ground.
// Positive moves in the direction of positive encoder values.
{0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
+ 0.1000000000, 1.2000000000},
+
+ // Zeroing constants for wrist.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
+
},
{
@@ -186,7 +194,15 @@
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
{-1.570000000, 1.5700000000,
- -1.200000000, 1.2000000000}
+ -1.200000000, 1.2000000000},
+
+ // Elevator zeroing constants: left, right.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ // Arm zeroing constants: left, right.
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
},
// End "sensor" values.
@@ -196,9 +212,16 @@
break;
case kPracticeTeamNumber:
return new Values{
- kPracticeDrivetrainEncoderRatio,
- kPracticeLowGearRatio,
- kPracticeHighGearRatio,
+ kDrivetrainEncoderRatio,
+ kArmEncoderRatio,
+ kArmPotRatio,
+ kElevatorEncoderRatio,
+ kElevatorPotRatio,
+ kElevatorGearboxOutputRadianDistance,
+ kClawEncoderRatio,
+ kClawPotRatio,
+ kLowGearRatio,
+ kHighGearRatio,
kPracticeLeftDriveShifter,
kPracticeRightDriveShifter,
false,
@@ -208,18 +231,6 @@
0.02, // drivetrain done delta
5.0, // drivetrain max speed
- // Zeroing constants: left arm, right arm, left elev, right elev
- {
- kZeroingSampleSize, kArmEncoderIndexDifference,
- // TODO(sensors): Get actual offsets before turning on robot.
- 0.0 /*index_offset_at_zero*/
- },
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
- // TODO(sensors): End "sensors" values
-
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
// TODO(sensors): Get actual bounds before turning on robot.
@@ -228,7 +239,11 @@
// 0 is level with the ground.
// Positive moves in the direction of positive encoder values.
{0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000}
+ 0.1000000000, 1.2000000000},
+
+ // Zeroing constants for wrist.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
},
{
@@ -242,7 +257,15 @@
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
{-1.570000000, 1.5700000000,
- -1.200000000, 1.2000000000}
+ -1.200000000, 1.2000000000},
+
+ // Elevator zeroing constants: left, right.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ // Arm zeroing constants: left, right.
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
},
// TODO(sensors): End "sensor" values.
diff --git a/frc971/constants.h b/frc971/constants.h
index eca49d7..883e1b1 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -17,6 +17,20 @@
// The ratio from the encoder shaft to the drivetrain wheels.
double drivetrain_encoder_ratio;
+ // The ratio from the encoder shaft to the arm joint.
+ double arm_encoder_ratio;
+ // The ratio from the pot shaft to the arm joint.
+ double arm_pot_ratio;
+ // The ratio from the encoder shaft to the elevator output pulley.
+ double elev_encoder_ratio;
+ // The ratio from the pot shaft to the elevator output pulley.
+ double elev_pot_ratio;
+ // How far the elevator moves (meters) per radian on the output pulley.
+ double elev_distance_per_radian;
+ // The ratio from the encoder shaft to the claw joint.
+ double claw_encoder_ratio;
+ // The ratio from the pot shaft to the claw joint.
+ double claw_pot_ratio;
// The gear ratios from motor shafts to the drivetrain wheels for high and low
// gear.
@@ -45,12 +59,6 @@
double measured_index_position;
};
- ZeroingConstants left_arm_zeroing_constants;
- ZeroingConstants right_arm_zeroing_constants;
- ZeroingConstants left_elevator_zeroing_constants;
- ZeroingConstants right_elevator_zeroing_constants;
- ZeroingConstants claw_zeroing_constants;
-
// Defines a range of motion for a subsystem.
struct Range {
double lower_hard_limit;
@@ -61,12 +69,18 @@
struct Claw {
Range wrist;
+ ZeroingConstants zeroing;
};
Claw claw;
struct Fridge {
Range elevator;
Range arm;
+
+ ZeroingConstants left_elev_zeroing;
+ ZeroingConstants right_elev_zeroing;
+ ZeroingConstants left_arm_zeroing;
+ ZeroingConstants right_arm_zeroing;
};
Fridge fridge;
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index d671cfa..4f86697 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -26,8 +26,7 @@
// Constructs a claw simulation.
ClawSimulation()
: claw_plant_(new StateFeedbackPlant<2, 1, 1>(MakeClawPlant())),
- pot_and_encoder_(
- constants::GetValues().claw_zeroing_constants.index_difference),
+ pot_and_encoder_(constants::GetValues().claw.zeroing.index_difference),
claw_queue_(".frc971.control_loops.claw_queue", 0x9d7452fb,
".frc971.control_loops.claw_queue.goal",
".frc971.control_loops.claw_queue.position",
@@ -35,7 +34,7 @@
".frc971.control_loops.claw_queue.status") {
pot_and_encoder_.Initialize(
constants::GetValues().claw.wrist.lower_limit,
- constants::GetValues().claw_zeroing_constants.index_difference / 3.0);
+ constants::GetValues().claw.zeroing.index_difference / 3.0);
}
// Do specific initialization for the sensors.
@@ -164,7 +163,7 @@
// Lower limit.
ASSERT_TRUE(claw_queue_.goal.MakeWithBuilder()
- .angle(values.claw.wrist.lower_hard_limit + 5.0)
+ .angle(values.claw.wrist.lower_hard_limit - 5.0)
.Send());
RunForTime(Time::InMS(4000));
diff --git a/frc971/control_loops/fridge/fridge.cc b/frc971/control_loops/fridge/fridge.cc
index d2e7bbf..be6bb01 100644
--- a/frc971/control_loops/fridge/fridge.cc
+++ b/frc971/control_loops/fridge/fridge.cc
@@ -61,12 +61,12 @@
StateFeedbackLoop<4, 2, 2>(MakeArmLoop()))),
elevator_loop_(new CappedStateFeedbackLoop(
StateFeedbackLoop<4, 2, 2>(MakeElevatorLoop()))),
- left_arm_estimator_(constants::GetValues().left_arm_zeroing_constants),
- right_arm_estimator_(constants::GetValues().right_arm_zeroing_constants),
+ left_arm_estimator_(constants::GetValues().fridge.left_arm_zeroing),
+ right_arm_estimator_(constants::GetValues().fridge.right_arm_zeroing),
left_elevator_estimator_(
- constants::GetValues().left_elevator_zeroing_constants),
+ constants::GetValues().fridge.left_elev_zeroing),
right_elevator_estimator_(
- constants::GetValues().right_elevator_zeroing_constants) {}
+ constants::GetValues().fridge.right_elev_zeroing) {}
void Fridge::UpdateZeroingState() {
if (left_elevator_estimator_.offset_ratio_ready() < 0.5 ||
@@ -184,8 +184,8 @@
2.0;
const double pulse_width = ::std::max(
- constants::GetValues().left_elevator_zeroing_constants.index_difference,
- constants::GetValues().right_elevator_zeroing_constants.index_difference);
+ constants::GetValues().fridge.left_elev_zeroing.index_difference,
+ constants::GetValues().fridge.right_elev_zeroing.index_difference);
if (elevator_zeroing_velocity_ == 0) {
if (estimated_elevator() > average_elevator) {
@@ -208,8 +208,8 @@
constants::GetValues().fridge.arm.upper_limit) /
2.0;
const double pulse_width = ::std::max(
- constants::GetValues().right_arm_zeroing_constants.index_difference,
- constants::GetValues().left_arm_zeroing_constants.index_difference);
+ constants::GetValues().fridge.right_arm_zeroing.index_difference,
+ constants::GetValues().fridge.left_arm_zeroing.index_difference);
if (arm_zeroing_velocity_ == 0) {
if (estimated_arm() > average_arm) {
diff --git a/frc971/control_loops/fridge/fridge_lib_test.cc b/frc971/control_loops/fridge/fridge_lib_test.cc
index 2bc3d02..5c41e98 100644
--- a/frc971/control_loops/fridge/fridge_lib_test.cc
+++ b/frc971/control_loops/fridge/fridge_lib_test.cc
@@ -28,16 +28,13 @@
: arm_plant_(new StateFeedbackPlant<4, 2, 2>(MakeArmPlant())),
elev_plant_(new StateFeedbackPlant<4, 2, 2>(MakeElevatorPlant())),
left_arm_pot_encoder_(
- constants::GetValues().left_arm_zeroing_constants.index_difference),
+ constants::GetValues().fridge.left_arm_zeroing.index_difference),
right_arm_pot_encoder_(
- constants::GetValues()
- .right_arm_zeroing_constants.index_difference),
+ constants::GetValues().fridge.right_arm_zeroing.index_difference),
left_elev_pot_encoder_(
- constants::GetValues()
- .left_elevator_zeroing_constants.index_difference),
+ constants::GetValues().fridge.left_elev_zeroing.index_difference),
right_elev_pot_encoder_(
- constants::GetValues()
- .right_elevator_zeroing_constants.index_difference),
+ constants::GetValues().fridge.right_elev_zeroing.index_difference),
fridge_queue_(".frc971.control_loops.fridge_queue", 0xe4e05855,
".frc971.control_loops.fridge_queue.goal",
".frc971.control_loops.fridge_queue.position",
@@ -48,13 +45,12 @@
constants::GetValues().fridge.elevator.lower_limit,
constants::GetValues().fridge.elevator.lower_limit,
kNoiseScalar *
- constants::GetValues()
- .right_elevator_zeroing_constants.index_difference);
+ constants::GetValues().fridge.right_elev_zeroing.index_difference);
// Initialize the arm.
SetArmSensors(0.0, 0.0,
kNoiseScalar *
constants::GetValues()
- .right_arm_zeroing_constants.index_difference);
+ .fridge.right_arm_zeroing.index_difference);
}
void SetElevatorSensors(double left_start_pos, double right_start_pos,
@@ -123,8 +119,6 @@
}
void VerifySeparation() {
- // TODO(danielp): Make sure that we are getting the correct values from the
- // plant.
const double left_arm_angle = arm_plant_->Y(0, 0);
const double right_arm_angle = arm_plant_->Y(1, 0);
const double left_elev_height = elev_plant_->Y(0, 0);
@@ -235,7 +229,7 @@
// mechanisms.
TEST_F(FridgeTest, RespectsRange) {
// Put the arm up to get it out of the way.
- // We're going to send the elevator to zero, which should be significantly too
+ // We're going to send the elevator to -5, which should be significantly too
// low.
ASSERT_TRUE(fridge_queue_.goal.MakeWithBuilder()
.angle(M_PI)
diff --git a/frc971/wpilib/wpilib.gyp b/frc971/wpilib/wpilib.gyp
index dcd46c2..0207742 100644
--- a/frc971/wpilib/wpilib.gyp
+++ b/frc971/wpilib/wpilib.gyp
@@ -11,6 +11,7 @@
'<(AOS)/common/common.gyp:stl_mutex',
'<(AOS)/build/aos.gyp:logging',
'<(EXTERNALS):WPILib',
+ '<(DEPTH)/frc971/frc971.gyp:constants',
'<(DEPTH)/frc971/control_loops/drivetrain/drivetrain.gyp:drivetrain_queue',
'<(DEPTH)/frc971/control_loops/fridge/fridge.gyp:fridge_queue',
'<(DEPTH)/frc971/control_loops/claw/claw.gyp:claw_queue',
diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index d950c02..b6a08de 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -17,6 +17,7 @@
#include "aos/linux_code/init.h"
#include "aos/common/messages/robot_state.q.h"
+#include "frc971/constants.h"
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/fridge/fridge.q.h"
@@ -56,22 +57,20 @@
double drivetrain_translate(int32_t in) {
return static_cast<double>(in) /
(256.0 /*cpr*/ * 4.0 /*4x*/) *
- (20.0 / 50.0 /*output stage*/) *
- // * constants::GetValues().drivetrain_encoder_ratio
+ constants::GetValues().drivetrain_encoder_ratio *
(4 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
}
double arm_translate(int32_t in) {
return static_cast<double>(in) /
(512.0 /*cpr*/ * 4.0 /*4x*/) *
- (14.0 / 17.0 /*output sprockets*/) *
- (18.0 / 48.0 /*encoder pulleys*/) *
+ constants::GetValues().arm_encoder_ratio *
(2 * M_PI /*radians*/);
}
double arm_pot_translate(double voltage) {
return voltage /
- (14.0 / 17.0 /*output sprockets*/) *
+ constants::GetValues().arm_pot_ratio *
(5.0 /*volts*/ / 5.0 /*turns*/) *
(2 * M_PI /*radians*/);
}
@@ -79,26 +78,29 @@
double elevator_translate(int32_t in) {
return static_cast<double>(in) /
(512.0 /*cpr*/ * 4.0 /*4x*/) *
- (14.0 / 84.0 /*output stage*/) *
- (32 * 5 / 2.54 / 10 /*pulley circumference (in)*/);
+ constants::GetValues().elev_encoder_ratio *
+ (2 * M_PI /*radians*/) *
+ constants::GetValues().elev_distance_per_radian;
}
double elevator_pot_translate(double voltage) {
return voltage /
- (32 * 5 / 2.54 / 10 /*pulley circumference (in)*/) *
+ constants::GetValues().elev_pot_ratio *
+ (2 * M_PI /*radians*/) *
+ constants::GetValues().elev_distance_per_radian *
(5.0 /*volts*/ / 5.0 /*turns*/);
}
double claw_translate(int32_t in) {
return static_cast<double>(in) /
(512.0 /*cpr*/ * 4.0 /*4x*/) *
- (16.0 / 72.0 /*output sprockets*/) *
+ constants::GetValues().claw_encoder_ratio *
(2 * M_PI /*radians*/);
}
double claw_pot_translate(double voltage) {
return voltage /
- (16.0 / 72.0 /*output sprockets*/) *
+ constants::GetValues().claw_pot_ratio *
(5.0 /*volts*/ / 5.0 /*turns*/) *
(2 * M_PI /*radians*/);
}