commit d5ccb8667ac54a10189b455ad0d3786c5cb87779
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 22:06:36 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree d7a2158552a49028f4ed0d71796293febdfeca0e
parent 192aa77ea0b7762c9bbf19f56fb1f88c5df066a4

Added column and tests

The column works!  We can also shut the intake down for hanging.

Change-Id: I4369d489d1a07a688f204fd9bb00ef7ad787f5a3

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index e8faae1..8858996 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -7,11 +7,10 @@
 #include "frc971/constants.h"
 
 #include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
-#include "y2017/control_loops/superstructure/shooter/shooter_plant.h"
-#include "y2017/control_loops/superstructure/intake/intake_plant.h"
-#include "y2017/control_loops/superstructure/turret/turret_plant.h"
-#include "y2017/control_loops/superstructure/indexer/indexer_plant.h"
+#include "y2017/control_loops/superstructure/column/column_plant.h"
 #include "y2017/control_loops/superstructure/hood/hood_plant.h"
+#include "y2017/control_loops/superstructure/intake/intake_plant.h"
+#include "y2017/control_loops/superstructure/shooter/shooter_plant.h"
 
 namespace y2017 {
 namespace constants {
@@ -40,6 +39,10 @@
   struct Column {
     ::frc971::constants::HallEffectZeroingConstants indexer_zeroing;
     ::frc971::constants::HallEffectZeroingConstants turret_zeroing;
+    // The max absolute value of the turret angle that we need to get to to be
+    // classified as zeroed.  Otherwise, we may be ambiguous on which wrap we
+    // are on.
+    double turret_zeroed_distance;
   };
 
   static const int kZeroingSampleSize = 200;
@@ -75,7 +78,7 @@
       constants::Values::kIntakeEncoderRatio *
       kIntakeEncoderCountsPerRevolution;
   static constexpr ::frc971::constants::Range kIntakeRange{-0.01, 0.240, 0.01,
-                                                           0.21};
+                                                           0.230};
 
   static constexpr double kHoodEncoderCountsPerRevolution = 2048 * 4;
   static constexpr double kHoodEncoderRatio = 20.0 / 345.0;
@@ -92,8 +95,8 @@
   static constexpr double kTurretEncoderCountsPerRevolution = 256 * 4;
   static constexpr double kTurretEncoderRatio = 11.0 / 94.0;
   static constexpr double kMaxTurretEncoderPulsesPerSecond =
-      control_loops::superstructure::turret::kFreeSpeed *
-      control_loops::superstructure::turret::kOutputRatio /
+      control_loops::superstructure::column::kTurretFreeSpeed *
+      control_loops::superstructure::column::kTurretOutputRatio /
       constants::Values::kTurretEncoderRatio *
       kTurretEncoderCountsPerRevolution;
 
@@ -102,10 +105,13 @@
   static constexpr double kIndexerEncoderIndexDifference =
       2.0 * M_PI * kIndexerEncoderRatio;
   static constexpr double kMaxIndexerEncoderPulsesPerSecond =
-      control_loops::superstructure::indexer::kFreeSpeed *
-      control_loops::superstructure::indexer::kOutputRatio /
+      control_loops::superstructure::column::kIndexerFreeSpeed *
+      control_loops::superstructure::column::kIndexerOutputRatio /
       constants::Values::kIndexerEncoderRatio *
       kIndexerEncoderCountsPerRevolution;
+  static constexpr ::frc971::constants::Range kTurretRange{
+      -460.0 / 2.0 * M_PI / 180.0, 460.0 / 2.0 * M_PI / 180.0,
+      -450.0 / 2.0 * M_PI / 180.0, 450.0 / 2.0 * M_PI / 180.0};
 
   double drivetrain_max_speed;