commit ca7c9b6b0ed23adb7ef91522a166143681235f5e
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 21 13:20:09 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Thu Feb 22 11:30:56 2024 -0800
tree 48ec4aa2af578e606ba3fd4f0f15c0b6a9a73548
parent 9e3b31010b33aeac5be6d7754a8f85a009a3d54a

Add intake zeroing constants

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I37406f09566c36a8ff1eb68c91c8c7b7d03ea278

y2024/constants/971.json

diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index ec59033..ee1d2a1 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -14,7 +14,7 @@
   "robot": {
     {% set _ = intake_pivot_zero.update(
       {
-          "measured_absolute_position" : 0.0
+          "measured_absolute_position" : 2.99648178674155
       }
     ) %}
     "intake_constants":  {{ intake_pivot_zero | tojson(indent=2)}},

y2024/constants/common.jinja2

diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index e132993..d2ac3dc 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -4,12 +4,16 @@
 
 {# Intake #}
 {# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
-{% set intake_pivot_encoder_ratio = (24.0 / 15.0) %}
+{% set intake_pivot_encoder_ratio = (15.0 / 24.0) %}
+
+{% set intake_upper = 2.1 %}
+{% set intake_lower = 0.1 %}
 
 {%
 set intake_pivot_zero = {
     "average_filter_size": zeroing_sample_size,
     "one_revolution_distance": pi * 2.0 * intake_pivot_encoder_ratio,
+    "middle_position": (intake_upper + intake_lower) / 2,
     "zeroing_threshold": 0.0005,
     "moving_buffer_size": 20,
     "allowable_encoder_error": 0.9

y2024/constants/common.json

diff --git a/y2024/constants/common.json b/y2024/constants/common.json
index e444f8d..99664b7 100644
--- a/y2024/constants/common.json
+++ b/y2024/constants/common.json
@@ -1,3 +1,5 @@
+{% from 'y2024/constants/common.jinja2' import intake_upper, intake_lower %}
+
 "common": {
   "target_map": {% include 'y2024/vision/maps/target_map.json' %},
   "shooter_interpolation_table": [
@@ -16,8 +18,8 @@
     "intaking": 12.0
   },
   "intake_pivot_set_points": {
-    "extended": 1.5,
-    "retracted": 0.5
+    "extended": 0.1,
+    "retracted": 2.0
   },
   "intake_pivot": {
     "zeroing_voltage": 3.0,
@@ -31,10 +33,10 @@
       "max_acceleration": 30.0
     },
     "range": {
-        "lower_hard": -0.85,
-        "upper_hard": 1.85,
-        "lower": -0.400,
-        "upper": 1.57
+        "lower_hard": 0.0,
+        "upper_hard": 2.1,
+        "lower": {{ intake_lower }},
+        "upper": {{ intake_upper }}
     },
     "loop": {% include 'y2024/control_loops/superstructure/intake_pivot/integral_intake_pivot_plant.json' %}
   },

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 7e55780..508b610 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -392,6 +392,8 @@
         &constant_fetcher_event_loop);
     const Constants *robot_constants = &constants_fetcher.constants();
 
+    AddLoop(&constant_fetcher_event_loop);
+
     // Thread 1.
     ::aos::ShmEventLoop joystick_sender_event_loop(&config.message());
     ::frc971::wpilib::JoystickSender joystick_sender(