commit ce385c3ecd543f563820a6314d7da222497be6dd
author Filip Kujawa <filip.j.kujawa@gmail.com> Fri Feb 16 10:39:49 2024 -0800
committer Filip Kujawa <filip.j.kujawa@gmail.com> Sun Feb 18 21:31:24 2024 -0800
tree 5ba26690c29cedc865858c8801db20958e41642a
parent d75252aac03978d02f517d61c61ba67f5f0f7ed7

Fix output ratios in wpilib_interface

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Ie70dec56dc1f6859a9a17bfb3dfe9ae5af23c5c4

y2024/constants.h

diff --git a/y2024/constants.h b/y2024/constants.h
index a5bef55..2e482e6 100644
--- a/y2024/constants.h
+++ b/y2024/constants.h
@@ -108,6 +108,14 @@
            control_loops::superstructure::extend::kOutputRatio /
            kExtendEncoderRatio() * kExtendEncoderCountsPerRevolution();
   }
+
+  // 20 -> 28 reduction to a 0.5" radius roller
+  static constexpr double kTransferRollerOutputRatio = (20.0 / 28.0) * 0.0127;
+  // 20 -> 34 reduction, and the 34 is on a 0.625" radius roller
+  static constexpr double kIntakeRollerOutputRatio = (20.0 / 34.0) * 0.015875;
+  // 20 -> 28 reduction to a 0.5" radius roller
+  static constexpr double kExtendRollerOutputRatio = (20.0 / 28.0) * 0.0127;
+
   struct PotAndAbsEncoderConstants {
     ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
         ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator>