Change the way we set the climber position
This fixes the logic to set the value of absolute encoder
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I41ddcbef1570c57635d300f5d4c75bcc3a3c7a3b
diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index 2d36c78..c2902af 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -33,11 +33,11 @@
%}
{% set climber_encoder_ratio = (16.0 / 60.0) %}
-{% set climber_radius = 16.0 * 0.25 * 0.0254 %}
+{% set climber_circumference = 16.0 * 0.25 / 2.0 / pi * 0.0254 %}
{%
set climber_zero = {
"average_filter_size": zeroing_sample_size,
- "one_revolution_distance": pi * 2.0 * climber_encoder_ratio * climber_radius,
+ "one_revolution_distance": climber_encoder_ratio * climber_circumference,
"zeroing_threshold": 0.0005,
"moving_buffer_size": 20,
"allowable_encoder_error": 0.9