y2016/constants.h

#ifndef Y2016_CONSTANTS_H_
#define Y2016_CONSTANTS_H_

#include <stdint.h>

#include "frc971/control_loops/state_feedback_loop.h"
#include "frc971/shifter_hall_effect.h"
#include "frc971/constants.h"

namespace y2016 {
namespace constants {

using ::frc971::constants::ShifterHallEffect;
using ::frc971::constants::ZeroingConstants;

// Has all of the numbers that change for both robots and makes it easy to
// retrieve the values for the current one.

// Everything is in SI units (volts, radians, meters, seconds, etc).
// Some of these values are related to the conversion between raw values
// (encoder counts, voltage, etc) to scaled units (radians, meters, etc).

// This structure contains current values for all of the things that change.
struct Values {
  // Defines a range of motion for a subsystem.
  // These are all absolute positions in scaled units.
  struct Range {
    double lower_hard;
    double upper_hard;
    double lower;
    double upper;
  };

  // ///// Mutual constants between robots. /////
  // TODO(constants): Update/check these with what we're using this year.
  static const int kZeroingSampleSize = 200;

  // The ratio from the encoder shaft to the drivetrain wheels.
  static constexpr double kDrivetrainEncoderRatio =
      (18.0 / 50.0) /*output reduction*/ * (56.0 / 30.0);

  // The gear ratios from motor shafts to the drivetrain wheels for high and low
  // gear.
  static constexpr double kLowGearRatio = 18.0 / 60.0 * 18.0 / 50.0;
  static constexpr double kHighGearRatio = 28.0 / 50.0 * 18.0 / 50.0;

  static constexpr double kTurnWidth = 25.0 / 100.0 * 2.54;  // Robot width.

  // Ratios for our subsystems.
  static constexpr double kShooterEncoderRatio = 1.0;
  static constexpr double kIntakeEncoderRatio = 16.0 / 58.0 * 18.0 / 72.0 * 14.0 / 64.0;
  static constexpr double kShoulderEncoderRatio = 16.0 / 58.0 * 18.0 / 72.0 * 14.0 / 64.0;
  static constexpr double kWristEncoderRatio = 16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;

  static constexpr double kIntakePotRatio = 16.0 / 58.0;
  static constexpr double kShoulderPotRatio = 16.0 / 58.0;
  static constexpr double kWristPotRatio = 16.0 / 48.0;

  // Difference in radians between index pulses.
  static constexpr double kIntakeEncoderIndexDifference = 2.0 * M_PI * kIntakeEncoderRatio;
  static constexpr double kShoulderEncoderIndexDifference = 2.0 * M_PI * kShoulderEncoderRatio;
  static constexpr double kWristEncoderIndexDifference = 2.0 * M_PI * kWristEncoderRatio;

  // Subsystem motion ranges, in whatever units that their respective queues say
  // the use.
  static constexpr Range kIntakeRange{-0.4, 2.0, -0.3, 1.9};
  static constexpr Range kShoulderRange{-0.2, 2.0, -0.1, 1.9};
  static constexpr Range kWristRange{-2.0, 2.0, -1.9, 1.0};

  // ///// Dynamic constants. /////
  double drivetrain_max_speed;

  struct Intake {
    double pot_offset;
    ZeroingConstants zeroing;
  };
  Intake intake;

  struct Shoulder {
    double pot_offset;
    ZeroingConstants zeroing;
  };
  Shoulder shoulder;

  struct Wrist {
    double pot_offset;
    ZeroingConstants zeroing;
  };
  Wrist wrist;
};

// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and
// returns a reference to it.
const Values &GetValues();

// Creates Values instances for each team number it is called with and returns
// them.
const Values &GetValuesForTeam(uint16_t team_number);

}  // namespace constants
}  // namespace y2016

#endif  // Y2016_CONSTANTS_H_