Modify some constants for third robot.
- Fix drivetrain_translate.
- Fix crio build.sh.
- Add some snazzy new regexes (as per Brian's suggestion), to
aos/build/build.sh, in order to shorten one of the conditionals.
- Get rid of some old, useless files.
diff --git a/bot3/input/gyro_sensor_receiver.cc b/bot3/input/gyro_sensor_receiver.cc
index f53f15b..625df57 100644
--- a/bot3/input/gyro_sensor_receiver.cc
+++ b/bot3/input/gyro_sensor_receiver.cc
@@ -18,34 +18,20 @@
namespace bot3 {
namespace {
+//TODO (danielp): Figure out whether the bigger gear is on the
+// encoder or not.
inline double drivetrain_translate(int32_t in) {
return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- (19.0 / 50.0) /*output reduction*/ * (64.0 / 24.0) /*encoder gears*/ *
- (3.5 /*wheel diameter*/ * 2.54 / 100.0 * M_PI);
+ (44.0 / 32.0 /*encoder gears*/) * // the encoders are on the wheels.
+ (3.5 /*wheel diameter*/ * 2.54 / 100 * M_PI);
}
-inline double wrist_translate(int32_t in) {
- return static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- (14.0 / 50.0 * 20.0 / 84.0) /*gears*/ * (2 * M_PI);
-}
-
-inline double angle_adjust_translate(int32_t in) {
- static const double kCableDiameter = 0.060;
- return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*quad*/) *
- ((0.75 + kCableDiameter) / (16.61125 + kCableDiameter)) /*pulleys*/ *
- (2 * M_PI);
-}
-
+// TODO (danielp): This needs to be modified eventually.
inline double shooter_translate(int32_t in) {
return static_cast<double>(in) / (32.0 /*cpr*/ * 4.0 /*quad*/) *
(15.0 / 34.0) /*gears*/ * (2 * M_PI);
}
-inline double index_translate(int32_t in) {
- return -static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*quad*/) *
- (1.0) /*gears*/ * (2 * M_PI);
-}
-
} // namespace
class GyroSensorReceiver : public USBReceiver {
diff --git a/bot3/output/atom_motor_writer.cc b/bot3/output/atom_motor_writer.cc
index 7d43b53..3d00b1b 100644
--- a/bot3/output/atom_motor_writer.cc
+++ b/bot3/output/atom_motor_writer.cc
@@ -22,21 +22,17 @@
virtual void RunIteration() {
values_.digital_module = 0;
- values_.pressure_switch_channel = 14;
- values_.compressor_channel = 1;
+ values_.pressure_switch_channel = 1;
+ values_.compressor_channel = 1; //spike
values_.solenoid_module = 0;
drivetrain.output.FetchLatest();
if (drivetrain.output.IsNewerThanMS(kOutputMaxAgeMS) && kEnableDrivetrain) {
- SetPWMOutput(2, drivetrain.output->right_voltage / 12.0, kTalonBounds);
SetPWMOutput(3, drivetrain.output->right_voltage / 12.0, kTalonBounds);
- SetPWMOutput(5, -drivetrain.output->left_voltage / 12.0, kTalonBounds);
- SetPWMOutput(6, -drivetrain.output->left_voltage / 12.0, kTalonBounds);
+ SetPWMOutput(4, -drivetrain.output->left_voltage / 12.0, kTalonBounds);
} else {
- DisablePWMOutput(2);
DisablePWMOutput(3);
- DisablePWMOutput(5);
- DisablePWMOutput(6);
+ DisablePWMOutput(4);
if (kEnableDrivetrain) {
LOG(WARNING, "drivetrain not new enough\n");
}