| 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 | |
| 6 | namespace bot3 { |
| 7 | namespace control_loops { |
| 8 | |
| Daniel Petti | 532c3e9 | 2014-11-04 22:15:19 -0800 | [diff] [blame] | 9 | constexpr constants::ShifterHallEffect kBot3LeftDriveShifter = |
| Daniel Petti | af41bb2 | 2014-11-14 12:45:30 -0800 | [diff] [blame] | 10 | {426, 171, 0.6, 0.47}; |
| Daniel Petti | 532c3e9 | 2014-11-04 22:15:19 -0800 | [diff] [blame] | 11 | constexpr constants::ShifterHallEffect kBot3RightDriveShifter = |
| Daniel Petti | af41bb2 | 2014-11-14 12:45:30 -0800 | [diff] [blame] | 12 | {424, 172, 0.62, 0.55}; |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 13 | |
| 14 | constexpr double kBot3TurnWidth = 0.5; |
| 15 | constexpr double kBot3DrivetrainDoneDistance = 0.02; |
| 16 | |
| Daniel Petti | af41bb2 | 2014-11-14 12:45:30 -0800 | [diff] [blame] | 17 | constexpr double kBot3LowGearRatio = 14.0 / 60.0 * 17.0 / 50.0; |
| 18 | constexpr double kBot3HighGearRatio = 30.0 / 44.0 * 17.0 / 50.0; |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 19 | |
| Daniel Petti | fd0a51d | 2014-11-07 16:59:24 -0800 | [diff] [blame] | 20 | // If this is true, we don't use the analog hall effects for shifting. |
| 21 | constexpr bool kBot3SimpleShifting = true; |
| 22 | |
| Daniel Petti | aece37f | 2014-10-25 17:13:44 -0700 | [diff] [blame] | 23 | } // control_loops |
| 24 | } // bot3 |
| 25 | |
| 26 | #endif |