commit ef030df203512b91394c63d55aeadc93a4d7db9d
author Brian <brian@localhost> Sun Mar 05 15:06:04 2017 -0800
committer Brian Silverman <bsilver16384@gmail.com> Sat Mar 11 13:14:17 2017 -0800
tree 321b9899f5eebcee0d67f071ea25ce64db1c4b33
parent 5122fa428896a4a14e5fd683a03174af36b11ec2

Update sensor reading for new turret

Change-Id: Id2b8465f78ed25c91bd9477c416da5500a83e9b8

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index e011501..ec8de5d 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -89,21 +89,15 @@
       -0.39 * M_PI / 180.0, 37.11 * M_PI / 180.0, (-0.39 + 1.0) * M_PI / 180.0,
       (37.11 - 1.0) * M_PI / 180.0};
 
-  static constexpr double kTurretEncoderCountsPerRevolution = 1024 * 4;
-  static constexpr double kTurretEncoderRatio = 16.0 / 92.0;
-  static constexpr double kTurretPotRatio = 16.0 / 92.0;
-  static constexpr double kTurretEncoderIndexDifference =
-      2.0 * M_PI * kTurretEncoderRatio;
+  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 /
       constants::Values::kTurretEncoderRatio *
       kTurretEncoderCountsPerRevolution;
-  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};
 
-  static constexpr double kMaxIndexerEncoderCountsPerRevolution = 256 * 4;
+  static constexpr double kIndexerEncoderCountsPerRevolution = 256 * 4;
   static constexpr double kIndexerEncoderRatio = (18.0 / 36.0) * (12.0 / 84.0);
   static constexpr double kIndexerEncoderIndexDifference =
       2.0 * M_PI * kIndexerEncoderRatio;
@@ -111,14 +105,12 @@
       control_loops::superstructure::indexer::kFreeSpeed *
       control_loops::superstructure::indexer::kOutputRatio /
       constants::Values::kIndexerEncoderRatio *
-      kMaxIndexerEncoderCountsPerRevolution;
+      kIndexerEncoderCountsPerRevolution;
 
   double drivetrain_max_speed;
 
   Intake intake;
 
-  Turret turret;
-
   Hood hood;
 
   double down_error;