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::climber
namespace	sensor_conversions::elevator
namespace	sensor_conversions::elevator::lift
namespace	sensor_conversions::elevator::carriage

Functions
constexpr units::angle::turn_t	sensor_conversions::swerve_drive::turn::ToSensorUnit (const units::degree_t degrees)
constexpr units::degree_t	sensor_conversions::swerve_drive::turn::ToAngle (const units::angle::turn_t sensorunit)
constexpr units::turn_t	sensor_conversions::swerve_drive::turn::MotorToWheelAngle (const units::angle::turn_t motorPosition)
constexpr units::turn_t	sensor_conversions::swerve_drive::turn::WheelToMotorAngle (const units::angle::turn_t wheelPosition)
constexpr units::inch_t	sensor_conversions::swerve_drive::drive::ToDistance (const units::angle::turn_t sensorunit)
constexpr units::angle::turn_t	sensor_conversions::swerve_drive::drive::ToSensorPosition (const units::inch_t distance)
constexpr units::inches_per_second_t	sensor_conversions::swerve_drive::drive::ToVelocity (const units::angular_velocity::revolutions_per_minute_t sensorVelocity)
constexpr units::angular_velocity::revolutions_per_minute_t	sensor_conversions::swerve_drive::drive::ToSensorVelocity (const units::inches_per_second_t velocity)
constexpr units::inch_t	sensor_conversions::climber::ToHeight (units::angle::turn_t sensorunit)
constexpr units::angle::turn_t	sensor_conversions::climber::ToSensorUnit (units::inch_t distance)
constexpr units::inch_t	sensor_conversions::elevator::lift::ToHeight (const units::angle::turn_t sensorUnit)
constexpr units::angle::turn_t	sensor_conversions::elevator::lift::ToSensorUnit (const units::inch_t height)
constexpr units::angle::turn_t	sensor_conversions::elevator::carriage::ToSensorUnit (const units::degree_t degrees)
constexpr units::degree_t	sensor_conversions::elevator::carriage::ToAngle (const units::angle::turn_t sensorUnit)

Variables
constexpr double	sensor_conversions::swerve_drive::turn::sensorConversionFactor = 1
	multiply to convert raw sensor units to module degrees
constexpr double	sensor_conversions::swerve_drive::turn::turnGearRatio = 12.8
constexpr auto	sensor_conversions::swerve_drive::drive::wheelDiameter = 4.0_in / units::angle::turn_t{1}
constexpr auto	sensor_conversions::swerve_drive::drive::wheelCircumference = wheelDiameter * std::numbers::pi
constexpr auto	sensor_conversions::swerve_drive::drive::driveGearRatio = 5.49
constexpr auto	sensor_conversions::climber::sensorConversionFactor = 4_in / 20_tr
constexpr auto	sensor_conversions::elevator::lift::sensorConversionFactor = 1_in / 3_tr
constexpr auto	sensor_conversions::elevator::carriage::sensorConversionFactor = (1.0 / 9.0) * (15.0 / 72.0)