sensor_conversions::lifter::arm_extension Namespace Reference

Functions
constexpr units::inch_t	ToExtension (const double sensorUnit)
constexpr double	ToSensorUnit (const units::inch_t extension)
constexpr units::inches_per_second_t	ToVelocity (const double sensorVelocity)
constexpr double	ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr units::inch_t	ExtensionFromRotation (const units::degree_t angle)
	Find the travel of the extension given a rotation "angle" of the CANCoder.

Variables
constexpr double	sensorToMotorRevolution = 1.0 / 2048
constexpr double	gearboxReduction = 1.0 / 12.0
constexpr double	driveSprocketTeeth = 15.0
constexpr double	extensionInchesPerTooth = 0.375 / 1
constexpr double	absEncoderReduction = 1.0 / 10
constexpr units::inch_t	extensionPerEncoderRevolution

Function Documentation

ExtensionFromRotation()

constexpr units::inch_t sensor_conversions::lifter::arm_extension::ExtensionFromRotation ( const units::degree_t  angle )

constexpr

Find the travel of the extension given a rotation "angle" of the CANCoder.

Parameters

angle

Rotation of the CANCoder

Returns

The travel of extension given a rotation of geared CANCoder

ToExtension()

constexpr units::inch_t sensor_conversions::lifter::arm_extension::ToExtension ( const double  sensorUnit )

constexpr

ToSensorUnit()

constexpr double sensor_conversions::lifter::arm_extension::ToSensorUnit ( const units::inch_t  extension )

constexpr

ToSensorVelocity()

constexpr double sensor_conversions::lifter::arm_extension::ToSensorVelocity ( const units::inches_per_second_t  velocity )

constexpr

ToVelocity()

constexpr units::inches_per_second_t sensor_conversions::lifter::arm_extension::ToVelocity ( const double  sensorVelocity )

constexpr

Variable Documentation

absEncoderReduction

constexpr double sensor_conversions::lifter::arm_extension::absEncoderReduction = 1.0 / 10

constexpr

driveSprocketTeeth

constexpr double sensor_conversions::lifter::arm_extension::driveSprocketTeeth = 15.0

constexpr

extensionInchesPerTooth

constexpr double sensor_conversions::lifter::arm_extension::extensionInchesPerTooth = 0.375 / 1

constexpr

extensionPerEncoderRevolution

constexpr units::inch_t sensor_conversions::lifter::arm_extension::extensionPerEncoderRevolution

constexpr

Initial value:

=
          units::make_unit<units::inch_t>((extensionInchesPerTooth * driveSprocketTeeth) / absEncoderReduction)

gearboxReduction

constexpr double sensor_conversions::lifter::arm_extension::gearboxReduction = 1.0 / 12.0

constexpr

sensorToMotorRevolution

constexpr double sensor_conversions::lifter::arm_extension::sensorToMotorRevolution = 1.0 / 2048

constexpr