| James (Peilun) Li | a70e575 | 2024-09-18 20:43:00 -0700 | [diff] [blame] | 1 | {% set pi = 3.14159265 %} |
| 2 | |||||
| 3 | {%set zeroing_sample_size = 200 %} | ||||
| James (Peilun) Li | e9ee3e6 | 2024-11-03 21:24:21 -0800 | [diff] [blame^] | 4 | |
| 5 | {# Arm #} | ||||
| 6 | {% set arm_encoder_ratio = (4.0 / 1.0) %} | ||||
| 7 | |||||
| 8 | {% | ||||
| 9 | set arm_zero = { | ||||
| 10 | "average_filter_size": zeroing_sample_size, | ||||
| 11 | "one_revolution_distance": pi * 2.0 * arm_encoder_ratio, | ||||
| 12 | "zeroing_threshold": 0.0005, | ||||
| 13 | "moving_buffer_size": 20, | ||||
| 14 | "allowable_encoder_error": 0.9 | ||||
| 15 | } | ||||
| 16 | %} | ||||