| Maxwell Henderson | de14bbb | 2024-01-29 13:59:28 -0800 | [diff] [blame] | 1 | {% set pi = 3.14159265 %} |
| 2 | |
| 3 | {# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #} |
| 4 | {% set intake_pivot_encoder_ratio = (16.0 / 64.0) * (18.0 / 62.0) %} |
| 5 | |
| 6 | {%set zeroing_sample_size = 200 %} |
| 7 | |
| 8 | {% |
| 9 | set intake_pivot_zero = { |
| 10 | "average_filter_size": zeroing_sample_size, |
| 11 | "one_revolution_distance": pi * 2.0 * intake_pivot_encoder_ratio, |
| 12 | "zeroing_threshold": 0.0005, |
| 13 | "moving_buffer_size": 20, |
| 14 | "allowable_encoder_error": 0.9 |
| 15 | } |
| 16 | %} |