Add Flipper Arms Wpilib_Interface
Change-Id: I808519619dc271658666b8060d9903239b809718
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
diff --git a/y2022/constants.h b/y2022/constants.h
index 65aad44..c0c49e7 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -122,6 +122,21 @@
control_loops::superstructure::turret::kOutputRatio /
kTurretEncoderRatio() * kTurretEncoderCountsPerRevolution();
}
+
+ // Flipper arms
+ static constexpr double kFlipperArmSupplyCurrentLimit() { return 30.0; }
+ static constexpr double kFlipperArmStatorCurrentLimit() { return 40.0; }
+
+ // TODO: (Griffin) this needs to be set
+ static constexpr ::frc971::constants::Range kFlipperArmRange() {
+ return ::frc971::constants::Range{
+ .lower_hard = -0.01, .upper_hard = 0.6, .lower = 0.0, .upper = 0.5};
+ }
+
+ static constexpr double kFlipperArmsPotRatio() { return 16.0 / 36.0; }
+
+ PotConstants flipper_arm_left;
+ PotConstants flipper_arm_right;
};
// Creates and returns a Values instance for the constants.