y2024/constants/common.jinja2

{% set pi = 3.14159265 %}

{%set zeroing_sample_size = 200 %}

{# Intake #}
{# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
{% set intake_pivot_encoder_ratio = (15.0 / 24.0) %}

{% set intake_upper = 2.1 %}
{% set intake_lower = 0.1 %}

{%
set intake_pivot_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * intake_pivot_encoder_ratio,
    "middle_position": (intake_upper + intake_lower) / 2,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}

{% set extend_encoder_ratio = (1.0 / 1.0) %}
{% set extend_radius = 36.0 * 0.005 / 2.0 / pi %}
{%
set extend_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * extend_encoder_ratio * extend_radius,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}

{% set climber_encoder_ratio = (16.0 / 60.0) %}
{% set climber_radius = 16.0 * 0.25 / 2.0 / pi %}
{%
set climber_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * climber_encoder_ratio * climber_radius,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}

{# Catapult #}
{% set catapult_encoder_ratio = (12.0 / 24.0) %}

{%
set catapult_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * catapult_encoder_ratio,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}

{# Altitude #}
{% set altitude_encoder_ratio = (16.0 / 162.0) %}

{%
set altitude_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * altitude_encoder_ratio,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}

{# Turret #}
{% set turret_encoder_ratio = (22.0 / 100.0) %}

{%
set turret_zero = {
    "average_filter_size": zeroing_sample_size,
    "one_revolution_distance": pi * 2.0 * turret_encoder_ratio,
    "zeroing_threshold": 0.0005,
    "moving_buffer_size": 20,
    "allowable_encoder_error": 0.9
}
%}