frc971/control_loops/python/constants.py

import argparse

arg_parser = argparse.ArgumentParser(description='spline_editor')
arg_parser.add_argument('size',
                        metavar='N',
                        default=800,
                        type=int,
                        nargs='?',
                        help="size of the screen")
args = arg_parser.parse_args()
SCREEN_SIZE = args.size

WIDTH_OF_ROBOT = 0.65
LENGTH_OF_ROBOT = 0.8

ROBOT_SIDE_TO_BALL_CENTER = 0.15  # Placeholder value
BALL_RADIUS = 0.165
ROBOT_SIDE_TO_HATCH_PANEL = 0.1  # Placeholder value
HATCH_PANEL_WIDTH = 0.4826

FIELD = 2020

if FIELD == 2019:
    WIDTH_OF_FIELD_IN_METERS = 8.258302  # Half Field
elif FIELD == 2020:
    WIDTH_OF_FIELD_IN_METERS = 15.98295  # Full Field
    LENGTH_OF_FIELD_IN_METERS = 8.21055  # Full Field


def pxToM(p):
    return p * WIDTH_OF_FIELD_IN_METERS / SCREEN_SIZE


def mToPx(m):
    return (m * SCREEN_SIZE / WIDTH_OF_FIELD_IN_METERS)


def inToM(i):
    return (i * 0.0254)