| 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. #} |
| Niko Sohmers | 7701332 | 2024-02-09 20:17:16 -0800 | [diff] [blame] | 4 | {% set intake_pivot_encoder_ratio = (24.0 / 15.0) %} |
| Maxwell Henderson | de14bbb | 2024-01-29 13:59:28 -0800 | [diff] [blame] | 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 | %} |
| Filip Kujawa | 37aa0bc | 2024-01-31 20:59:49 -0800 | [diff] [blame] | 17 | |
| 18 | {# TODO(Filip): Update climber values #} |
| 19 | {% set climber_encoder_ratio = (1.0 / 1.0) %} |
| 20 | {% set climber_radius = 0.436496 %} |
| 21 | {% |
| 22 | set climber_zero = { |
| 23 | "average_filter_size": zeroing_sample_size, |
| 24 | "one_revolution_distance": pi * 2.0 * climber_encoder_ratio * climber_radius, |
| 25 | "zeroing_threshold": 0.0005, |
| 26 | "moving_buffer_size": 20, |
| 27 | "allowable_encoder_error": 0.9 |
| 28 | } |
| 29 | %} |