incorporate arm into superstructure.cc by adding arm constants
Change-Id: Icfd6ba91044b7a8f29f10edf8c4c44ae1a443d2c
Signed-off-by: Yash Maheshwari <yashmahe2018@gmail.com>
Signed-off-by: James (Peilun) Li <jamespeilunli@gmail.com>
diff --git a/y2024_bot3/constants/common.jinja2 b/y2024_bot3/constants/common.jinja2
index 9b7af82..809f8c8 100644
--- a/y2024_bot3/constants/common.jinja2
+++ b/y2024_bot3/constants/common.jinja2
@@ -1,3 +1,16 @@
{% set pi = 3.14159265 %}
{%set zeroing_sample_size = 200 %}
+
+{# Arm #}
+{% set arm_encoder_ratio = (4.0 / 1.0) %}
+
+{%
+set arm_zero = {
+ "average_filter_size": zeroing_sample_size,
+ "one_revolution_distance": pi * 2.0 * arm_encoder_ratio,
+ "zeroing_threshold": 0.0005,
+ "moving_buffer_size": 20,
+ "allowable_encoder_error": 0.9
+}
+%}