Delete PID stuff that somehow got into master

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Constants.java

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 6e3f6ee41cb21da133f94622e040b7306a7a3d83..6f2b3cd0b823d403dff401a1ec213d3994524b76 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -33,6 +33,14 @@ public class Constants {
     public final static int ENCODER_LEFT_B = 4;
     public final static int ENCODER_RIGHT_A = 2;
     public final static int ENCODER_RIGHT_B = 1;
+
+    private final static double WHEEL_DIAMETER = 6.0; // in inches
+    private final static double PULSES_PER_ROTATION = 256; // in pulses
+    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+    public final static double INCHES_PER_PULSE = (((Math.PI)
+        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
+        * WHEEL_DIAMETER;
   }
 
   public static class Scaler {