sensor_conversions.h File Reference

#include <units/acceleration.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
#include <units/time.h>
#include <units/velocity.h>
#include <numbers>
#include "custom_units.h"

Go to the source code of this file.

Namespaces
namespace	sensor_conversions
namespace	sensor_conversions::swerve_drive
namespace	sensor_conversions::swerve_drive::turn
namespace	sensor_conversions::swerve_drive::drive
namespace	sensor_conversions::lifter
namespace	sensor_conversions::lifter::arm_extension
namespace	sensor_conversions::lifter::wrist
namespace	sensor_conversions::lifter::shoulder
namespace	sensor_conversions::lifter::shoulder_actuator
namespace	sensor_conversions::bashguard
namespace	sensor_conversions::oui_oui_place

Functions
constexpr double	sensor_conversions::swerve_drive::turn::ToSensorUnit (const units::degree_t degrees)
constexpr units::degree_t	sensor_conversions::swerve_drive::turn::ToAngle (const double sensorunit)
constexpr units::inch_t	sensor_conversions::swerve_drive::drive::ToDistance (const double sensorunit)
constexpr double	sensor_conversions::swerve_drive::drive::ToSensorPosition (const units::inch_t distance)
constexpr units::inches_per_second_t	sensor_conversions::swerve_drive::drive::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::swerve_drive::drive::ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr units::inch_t	sensor_conversions::lifter::arm_extension::ToExtension (const double sensorUnit)
constexpr double	sensor_conversions::lifter::arm_extension::ToSensorUnit (const units::inch_t extension)
constexpr units::inches_per_second_t	sensor_conversions::lifter::arm_extension::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::lifter::arm_extension::ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr units::inch_t	sensor_conversions::lifter::arm_extension::ExtensionFromRotation (const units::degree_t angle)
	Find the travel of the extension given a rotation "angle" of the CANCoder.
constexpr units::degree_t	sensor_conversions::lifter::wrist::ToAngle (const double sensorUnit)
constexpr double	sensor_conversions::lifter::wrist::ToSensorUnit (const units::degree_t degrees)
constexpr units::degrees_per_second_t	sensor_conversions::lifter::wrist::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::lifter::wrist::ToSensorVelocity (const units::degrees_per_second_t velocity)
constexpr double	sensor_conversions::lifter::shoulder::ToSensorUnit (const units::degree_t degrees)
constexpr units::degree_t	sensor_conversions::lifter::shoulder::ToAngle (const double sensorUnit)
constexpr units::degrees_per_second_t	sensor_conversions::lifter::shoulder::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::lifter::shoulder::ToSensorVelocity (const units::degrees_per_second_t velocity)
constexpr double	sensor_conversions::lifter::shoulder_actuator::ToSensorUnit (const units::inch_t extension)
constexpr units::inch_t	sensor_conversions::lifter::shoulder_actuator::ToExtension (const double sensorUnits)
constexpr units::inches_per_second_t	sensor_conversions::lifter::shoulder_actuator::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::lifter::shoulder_actuator::ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr units::inch_t	sensor_conversions::bashguard::ToExtension (const double sensorUnit)
constexpr double	sensor_conversions::bashguard::ToSensorUnit (const units::inch_t extension)
constexpr units::inches_per_second_t	sensor_conversions::bashguard::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::bashguard::ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr double	sensor_conversions::oui_oui_place::ToSensorUnit (const units::degree_t angle)
constexpr units::degree_t	sensor_conversions::oui_oui_place::ToAngle (const double sensorUnits)
constexpr units::degrees_per_second_t	sensor_conversions::oui_oui_place::ToVelocity (const double sensorVelocity)
constexpr double	sensor_conversions::oui_oui_place::ToSensorVelocity (const units::degrees_per_second_t velocity)

Variables
constexpr double	sensor_conversions::swerve_drive::turn::sensorConversionFactor
	multiply to convert raw sensor units to module degrees
constexpr auto	sensor_conversions::swerve_drive::drive::wheelDiameter = 3.5_in
constexpr auto	sensor_conversions::swerve_drive::drive::wheelCircumference = wheelDiameter * std::numbers::pi
constexpr double	sensor_conversions::swerve_drive::drive::sensorUnitsPerMotorRevolution = 2048
constexpr double	sensor_conversions::swerve_drive::drive::driveGearRatio = 36000.0 / 5880.0
constexpr double	sensor_conversions::lifter::arm_extension::sensorToMotorRevolution = 1.0 / 2048
constexpr double	sensor_conversions::lifter::arm_extension::gearboxReduction = 1.0 / 12.0
constexpr double	sensor_conversions::lifter::arm_extension::driveSprocketTeeth = 15.0
constexpr double	sensor_conversions::lifter::arm_extension::extensionInchesPerTooth = 0.375 / 1
constexpr double	sensor_conversions::lifter::arm_extension::absEncoderReduction = 1.0 / 10
constexpr units::inch_t	sensor_conversions::lifter::arm_extension::extensionPerEncoderRevolution
constexpr double	sensor_conversions::lifter::wrist::sensorUnitsPerRevolution = 2048.0
constexpr double	sensor_conversions::lifter::wrist::gearBoxReduction = 9.0
constexpr double	sensor_conversions::lifter::wrist::extraReduction = 60.0 / 20.0
constexpr double	sensor_conversions::lifter::wrist::sensorConversionFactor
constexpr double	sensor_conversions::lifter::shoulder::sensorConversionFactor
	multiply to convert raw sensor units to module degrees
constexpr double	sensor_conversions::lifter::shoulder_actuator::sensorToMotorRev = 1.0 / 2048
constexpr double	sensor_conversions::lifter::shoulder_actuator::beltReduction = 30.0 / 18.0
constexpr double	sensor_conversions::lifter::shoulder_actuator::extensionMillimetersPerRevolution = 4.0
constexpr double	sensor_conversions::lifter::shoulder_actuator::fudgeFactor = 0.992
	This seems to be due to some discrepancy on comp bot.
constexpr double	sensor_conversions::bashguard::sensorToMotorRevolution = 1.0 / 2048
constexpr double	sensor_conversions::bashguard::gearboxReduction = 1.0 / 5
constexpr double	sensor_conversions::bashguard::driveSprocketTeeth = 15.0
constexpr double	sensor_conversions::bashguard::extensionInchesPerTooth = 0.375 / 1
constexpr double	sensor_conversions::oui_oui_place::sensorConversionFactor = 360.0 / 2048
	multiply to convert raw sensor units to module degrees
constexpr double	sensor_conversions::oui_oui_place::gearboxReduction = 1.0 / 15.0