commit b1b7e47186d4353c7f1fd8a5ae0a19281a9f8fc7
author milind-u <milind.upadhyay@gmail.com> Sun Oct 03 17:11:19 2021 -0700
committer milind-u <milind.upadhyay@gmail.com> Tue Oct 05 08:02:33 2021 -0700
tree 9b01ad3dbc32346736d5a9cdd434d96d36613d02
parent a2433dbdbb5deb4f58a8ec00a87ede60caa3fead

Complete shooter interpolation table

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I64786e0f854bdfc75b0a9643d31f4ca6063e4ef0

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index 1336411..ea12b46 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -33,17 +33,18 @@
       ::frc971::zeroing::AbsoluteAndAbsoluteEncoderZeroingEstimator>
       *const hood = &r->hood;
 
-  constexpr double kFeetToMeters = 0.0254 * 12.0;
-  // Approximate robot length, for converting estimates from the doc below.
-  // Rounded up from exact estimate, since I'm not sure if the original estimate
-  // includes bumpers.
-  constexpr double kRobotLength = 0.9;
+  constexpr double kInchesToMeters = 0.0254;
+  // Approximate length from the front bumpers to the middle of the robot.
+  constexpr double kHalfRobotLength = (36.00 / 2) * kInchesToMeters;
   // We found that the finisher velocity does not change ball velocity much, so
   // keep it constant.
   constexpr double kVelocityFinisher = 350.0;
   r->shot_interpolation_table = InterpolationTable<Values::ShotParams>(
-      {{7.6 * kFeetToMeters + kRobotLength, {0.31, 16.9}},
-       {12.6 * kFeetToMeters + kRobotLength, {0.4, 20.4}}});
+      {{40.00 * kInchesToMeters + kHalfRobotLength, {0.1, 10.6}},
+       {113.5 * kInchesToMeters + kHalfRobotLength, {0.42, 13.2}},
+       {168.5 * kInchesToMeters + kHalfRobotLength, {0.51, 13.2}},
+       {231.3 * kInchesToMeters + kHalfRobotLength, {0.51, 13.2}},
+       {276.5 * kInchesToMeters + kHalfRobotLength, {0.53, 13.2}}});
 
   r->flywheel_shot_interpolation_table =
       InterpolationTable<Values::FlywheelShotParams>(

y2020/control_loops/superstructure/superstructure_lib_test.cc

diff --git a/y2020/control_loops/superstructure/superstructure_lib_test.cc b/y2020/control_loops/superstructure/superstructure_lib_test.cc
index a54c89c..28c4bf5 100644
--- a/y2020/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2020/control_loops/superstructure/superstructure_lib_test.cc
@@ -1085,9 +1085,8 @@
               constants::Values::kHoodRange().upper, 0.001);
 }
 
-// TODO(milind): Add correct values and enable this once interpolation tables
-// have been filled out
-TEST_P(SuperstructureAllianceTest, DISABLED_ShooterInterpolationInRange) {
+// Test a value in range with auto tracking
+TEST_P(SuperstructureAllianceTest, ShooterInterpolationInRange) {
   SetEnabled(true);
   const frc971::control_loops::Pose target = turret::OuterPortPose(GetParam());
   WaitUntilZeroed();
@@ -1142,15 +1141,15 @@
   EXPECT_GE(superstructure_status_fetcher_->shooter()
                 ->accelerator_left()
                 ->angular_velocity_goal(),
-            100.0);
+            250.0);
   EXPECT_GE(superstructure_status_fetcher_->shooter()
                 ->accelerator_right()
                 ->angular_velocity_goal(),
-            100.0);
-  EXPECT_GE(superstructure_status_fetcher_->shooter()
-                ->finisher()
-                ->angular_velocity_goal(),
-            100.0);
+            250.0);
+  EXPECT_DOUBLE_EQ(superstructure_status_fetcher_->shooter()
+                       ->finisher()
+                       ->angular_velocity_goal(),
+                   350.0);
   EXPECT_GE(superstructure_status_fetcher_->hood()->position(),
             constants::Values::kHoodRange().lower);
 }