y2019/constants.h

#ifndef Y2019_CONSTANTS_H_
#define Y2019_CONSTANTS_H_

#include <stdint.h>
#include <math.h>

#include "frc971/constants.h"

namespace y2019 {
namespace constants {

// Has all of our "constants", except the ones that come from other places. The
// ones which change between robots are put together with a workable way to
// retrieve the values for the current robot.

// 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).
//
// All ratios are from the encoder shaft to the output units.

struct Values {
  static const int kZeroingSampleSize = 200;
};

// 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 y2019

#endif  // Y2019_CONSTANTS_H_