Add y2023 folder
2022 Bot specific things were removed
Change-Id: I6563d477a65bf2eae5d39933003742bd372cf82e
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Xander Yee <xander.yee@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
new file mode 100644
index 0000000..03a6cae
--- /dev/null
+++ b/y2023/constants.h
@@ -0,0 +1,68 @@
+#ifndef Y2023_CONSTANTS_H_
+#define Y2023_CONSTANTS_H_
+
+#include <array>
+#include <cmath>
+#include <cstdint>
+
+#include "frc971/constants.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
+#include "y2023/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
+
+namespace y2023 {
+namespace constants {
+
+constexpr uint16_t kCompTeamNumber = 971;
+constexpr uint16_t kPracticeTeamNumber = 9971;
+constexpr uint16_t kCodingRobotTeamNumber = 7971;
+
+struct Values {
+ static const int kZeroingSampleSize = 200;
+
+ static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
+ static constexpr double kDrivetrainEncoderCountsPerRevolution() {
+ return kDrivetrainCyclesPerRevolution() * 4;
+ }
+ static constexpr double kDrivetrainEncoderRatio() { return 1.0; }
+ static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
+ return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
+ control_loops::drivetrain::kHighOutputRatio /
+ constants::Values::kDrivetrainEncoderRatio() *
+ kDrivetrainEncoderCountsPerRevolution();
+ }
+
+ static double DrivetrainEncoderToMeters(int32_t in) {
+ return ((static_cast<double>(in) /
+ kDrivetrainEncoderCountsPerRevolution()) *
+ (2.0 * M_PI)) *
+ kDrivetrainEncoderRatio() * control_loops::drivetrain::kWheelRadius;
+ }
+
+ struct PotConstants {
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::RelativeEncoderZeroingEstimator>
+ subsystem_params;
+ double potentiometer_offset;
+ };
+
+ struct PotAndAbsEncoderConstants {
+ ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
+ ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>
+ subsystem_params;
+ double potentiometer_offset;
+ };
+};
+
+// Creates and returns a Values instance for the constants.
+// Should be called before realtime because this allocates memory.
+// Only the first call to either of these will be used.
+Values MakeValues(uint16_t team);
+
+// Calls MakeValues with aos::network::GetTeamNumber()
+Values MakeValues();
+
+} // namespace constants
+} // namespace y2023
+
+#endif // Y2023_CONSTANTS_H_