2023-Robot
Robot code for 2023 FRC season by Argos, FRC team #1756
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sensor_conversions::swerve_drive::drive Namespace Reference

Functions

constexpr units::inch_t ToDistance (const double sensorunit)
 
constexpr double ToSensorPosition (const units::inch_t distance)
 
constexpr units::inches_per_second_t ToVelocity (const double sensorVelocity)
 
constexpr double ToSensorVelocity (const units::inches_per_second_t velocity)
 

Variables

constexpr auto wheelDiameter = 3.5_in
 
constexpr auto wheelCircumference = wheelDiameter * std::numbers::pi
 
constexpr double sensorUnitsPerMotorRevolution = 2048
 
constexpr double driveGearRatio = 36000.0 / 5880.0
 

Function Documentation

◆ ToDistance()

constexpr units::inch_t sensor_conversions::swerve_drive::drive::ToDistance ( const double  sensorunit)
constexpr

◆ ToSensorPosition()

constexpr double sensor_conversions::swerve_drive::drive::ToSensorPosition ( const units::inch_t  distance)
constexpr

◆ ToSensorVelocity()

constexpr double sensor_conversions::swerve_drive::drive::ToSensorVelocity ( const units::inches_per_second_t  velocity)
constexpr

◆ ToVelocity()

constexpr units::inches_per_second_t sensor_conversions::swerve_drive::drive::ToVelocity ( const double  sensorVelocity)
constexpr

Variable Documentation

◆ driveGearRatio

constexpr double sensor_conversions::swerve_drive::drive::driveGearRatio = 36000.0 / 5880.0
constexpr

◆ sensorUnitsPerMotorRevolution

constexpr double sensor_conversions::swerve_drive::drive::sensorUnitsPerMotorRevolution = 2048
constexpr

◆ wheelCircumference

constexpr auto sensor_conversions::swerve_drive::drive::wheelCircumference = wheelDiameter * std::numbers::pi
constexpr

◆ wheelDiameter

constexpr auto sensor_conversions::swerve_drive::drive::wheelDiameter = 3.5_in
constexpr