| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 1 | #ifndef BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| 2 | #define BOT3_CONTROL_LOOPS_DRIVETRAIN_CONSTANTS_H_ |
| 3 | |
| Daniel Petti | 532c3e9 | 2014-11-04 22:15:19 -0800 | [diff] [blame^] | 4 | #include "bot3/shifter_hall_effect.h" |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 5 | #include "frc971/control_loops/state_feedback_loop.h" |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 6 | |
| 7 | namespace bot3 { |
| 8 | namespace control_loops { |
| 9 | |
| 10 | // TODO(danielp): Figure out the real values for these constants. |
| Daniel Petti | 532c3e9 | 2014-11-04 22:15:19 -0800 | [diff] [blame^] | 11 | constexpr constants::ShifterHallEffect kBot3LeftDriveShifter = |
| 12 | {170, 475, 1.2, 1.0}; |
| 13 | constexpr constants::ShifterHallEffect kBot3RightDriveShifter = |
| 14 | {177, 486, 1.2, 1.0}; |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 15 | |
| 16 | constexpr double kBot3TurnWidth = 0.5; |
| 17 | constexpr double kBot3DrivetrainDoneDistance = 0.02; |
| 18 | |
| 19 | constexpr double kBot3HighGearRatio = 18.0 / 60.0 * 18.0 / 50.0; |
| 20 | constexpr double kBot3LowGearRatio = 28.0 / 50.0 * 18.0 / 50.0; |
| 21 | |
| 22 | } // control_loops |
| 23 | } // bot3 |
| 24 | |
| 25 | #endif |