Merge pull request #261 from thedropbears/rescale_ball_size

Author: LucienMorey

components/ballistics.py

@@ -14,7 +14,13 @@
 from components.injector import InjectorComponent
 from components.led_component import LightStrip
 from components.shooter import ShooterComponent
-from utilities.game import FIELD_LENGTH, FIELD_WIDTH, is_red
+from utilities.game import (
+    ALGAE_MAX_DIAMETER,
+    ALGAE_MIN_DIAMETER,
+    FIELD_LENGTH,
+    FIELD_WIDTH,
+    is_red,
+)
 
 
 @wpiutil.wpistruct.make_wpistruct
@@ -42,16 +48,16 @@ class BallisticsComponent:
     # Tuples are values corresponding to the distances above
     # fmt: off
     FLYWHEEL_TOP_SPEED_LOOKUP = {
-        16.0: (30, 32.5, 38.0),  # , 90
+        ALGAE_MIN_DIAMETER: (30, 32.5, 38.0),  # , 90
         # 16.5: (60, 80),
-        17.0: (33, 36, 39.0), # , 50
+        ALGAE_MAX_DIAMETER: (33, 36, 39.0), # , 50
     }
     # Currently we use the same speed top and bottom, but this could be seperate
     FLYWHEEL_BOTTOM_SPEED_LOOKUP = FLYWHEEL_TOP_SPEED_LOOKUP
     FLYWHEEL_ANGLE_LOOKUP = {
-        16.0: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
+        ALGAE_MIN_DIAMETER: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
         # 16.5: (math.radians(-15), math.radians(-20)),
-        17.0: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
+        ALGAE_MAX_DIAMETER: (math.radians(-10), math.radians(-12), math.radians(-19)), # , math.radians(-25)
     }
     # fmt: on
     BALL_SIZES = list(FLYWHEEL_ANGLE_LOOKUP.keys())

controllers/algae_measurement.py

@@ -2,6 +2,7 @@
 
 from components.injector import InjectorComponent
 from components.shooter import ShooterComponent
+from utilities.game import ALGAE_MAX_DIAMETER, ALGAE_MIN_DIAMETER
 from utilities.scalers import scale_value
 
 
@@ -73,7 +74,13 @@ def measuring(self, initial_call) -> None:
             ) - sum(self.injector_starting_positions)
             self.measured_raw_sizes.append(injector_position_delta)
             self.measured_sizes.append(
-                scale_value(injector_position_delta, 7.2, 4.9, 16.0, 17.0)
+                scale_value(
+                    injector_position_delta,
+                    7.2,
+                    4.9,
+                    ALGAE_MIN_DIAMETER,
+                    ALGAE_MAX_DIAMETER,
+                )
             )
 
             self.next_state(self.calculating)

utilities/game.py

@@ -42,6 +42,9 @@
     + get_fiducial_pose(21).translation().toTranslation2d()
 ) / 2
 
+ALGAE_MIN_DIAMETER = 16.0  # inches
+ALGAE_MAX_DIAMETER = 16.5  # inches
+
 
 def cage_pos(is_red: bool) -> list[Translation2d]:
     if is_red: