y2021_bot3/constants.h

#ifndef Y2021_BOT3_CONSTANTS_H_
#define Y2021_BOT3_CONSTANTS_H_

#include <array>
#include <cmath>
#include <cstdint>

#include "frc971/constants.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/static_zeroing_single_dof_profiled_subsystem.h"
#include "y2021_bot3/control_loops/drivetrain/drivetrain_dog_motor_plant.h"

namespace y2021_bot3 {
namespace constants {

struct Values {
  static const int kZeroingSampleSize = 200;

  static constexpr double kDrivetrainCyclesPerRevolution() { return 512.0; }
  static constexpr double kDrivetrainEncoderCountsPerRevolution() {
    return kDrivetrainCyclesPerRevolution() * 4;
  }
  static constexpr double kDrivetrainEncoderRatio() { return (24.0 / 52.0); }
  static constexpr double kMaxDrivetrainEncoderPulsesPerSecond() {
    return control_loops::drivetrain::kFreeSpeed / (2.0 * M_PI) *
           control_loops::drivetrain::kHighOutputRatio /
           constants::Values::kDrivetrainEncoderRatio() *
           kDrivetrainEncoderCountsPerRevolution();
  }
  static constexpr double kRollerSupplyCurrentLimit() { return 30.0; }
  static constexpr double kRollerStatorCurrentLimit() { return 40.0; }
};

// 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 y2021_bot3

#endif  // Y2021_BOT3_CONSTANTS_H_