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