| #ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| #define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| |
| #include "bot3/shifter_hall_effect.h" |
| |
| namespace bot3 { |
| namespace control_loops { |
| |
| constexpr constants::ShifterHallEffect kBot3LeftDriveShifter = |
| {426, 171, 0.6, 0.47}; |
| constexpr constants::ShifterHallEffect kBot3RightDriveShifter = |
| {424, 172, 0.62, 0.55}; |
| |
| constexpr double kBot3TurnWidth = 0.5; |
| constexpr double kBot3DrivetrainDoneDistance = 0.02; |
| |
| constexpr double kBot3LowGearRatio = 14.0 / 60.0 * 17.0 / 50.0; |
| constexpr double kBot3HighGearRatio = 30.0 / 44.0 * 17.0 / 50.0; |
| |
| } // control_loops |
| } // bot3 |
| |
| #endif |