commit ce232a95d45a64d827ffcae6101da84c75913706
author Maxwell Henderson <mxwhenderson@gmail.com> Sun Feb 18 12:17:37 2024 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 18 20:03:28 2024 -0800
tree 799946d5b9ba3f80ca908763d90d5c6ac96f47d8
parent 838ee04e017a89230c762feec155481bc0414741

Update intake and climber constants

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ib7318810b000d3c1bc1a9a086af7048c3c9704da

y2024/constants.h

diff --git a/y2024/constants.h b/y2024/constants.h
index 1d0f5d3..44c5c23 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -55,9 +55,7 @@
     return 4096.0;
   }
 
-  static constexpr double kIntakePivotEncoderRatio() {
-    return (16.0 / 64.0) * (18.0 / 62.0);
-  }
+  static constexpr double kIntakePivotEncoderRatio() { return (15.0 / 24.0); }
 
   static constexpr double kMaxIntakePivotEncoderPulsesPerSecond() {
     return control_loops::superstructure::intake_pivot::kFreeSpeed /
@@ -67,20 +65,22 @@
            kIntakePivotEncoderCountsPerRevolution();
   }
 
-  // TODO(Filip): Update climber values once we have them.
   static constexpr double kClimberEncoderCountsPerRevolution() {
     return 4096.0;
   }
 
-  static constexpr double kClimberEncoderRatio() {
-    return (16.0 / 64.0) * (18.0 / 62.0);
+  static constexpr double kClimberEncoderRatio() { return (16.0 / 60.0); }
+
+  static constexpr double kClimberPotMetersPerRevolution() {
+    return 16 * 0.25 * 0.0254 * kClimberEncoderRatio();
   }
 
-  static constexpr double kClimberPotRatio() { return 16.0 / 64.0; }
+  static constexpr double kClimberEncoderMetersPerRevolution() {
+    return kClimberPotMetersPerRevolution();
+  }
 
-  static constexpr double kClimberPotRadiansPerVolt() {
-    return kClimberPotRatio() * (3.0 /*turns*/ / 5.0 /*volts*/) *
-           (2 * M_PI /*radians*/);
+  static constexpr double kClimberPotMetersPerVolt() {
+    return kClimberPotMetersPerRevolution() * (10.0 /*turns*/ / 5.0 /*volts*/);
   }
 
   static constexpr double kMaxClimberEncoderPulsesPerSecond() {