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/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index b396426..8050b57 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -78,7 +78,7 @@
 constexpr double kMaxBringupPower = 12.0;
 
 double climber_pot_translate(double voltage) {
-  return voltage * Values::kClimberPotRadiansPerVolt();
+  return voltage * Values::kClimberPotMetersPerVolt();
 }
 
 double drivetrain_velocity_translate(double in) {
@@ -140,7 +140,8 @@
 
       CopyPosition(climber_encoder_, builder->add_climber(),
                    Values::kClimberEncoderCountsPerRevolution(),
-                   Values::kClimberEncoderRatio(), climber_pot_translate, true,
+                   Values::kClimberEncoderMetersPerRevolution(),
+                   climber_pot_translate, true,
                    robot_constants_->robot()
                        ->climber_constants()
                        ->potentiometer_offset());