| {% 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 | |
| } | |
| %} |