commit 6829f76c133dc4d25ae61c8bdd02e31c87bc1ff7
author Austin Schuh <austin.linux@gmail.com> Fri Mar 02 21:36:01 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 03 00:00:56 2018 -0800
tree 2596d83339e75e5cb9333fdbeb7d46fac9d5626f
parent cb091717cd465dfca867172266b68108c74b8251

Calibrated robot.

Change-Id: Ib6a0527d301d68ff7dd1ec7ce619d6eeabc1af3a

y2018/constants.h

diff --git a/y2018/constants.h b/y2018/constants.h
index 1c18bde..ce09903 100644
--- a/y2018/constants.h
+++ b/y2018/constants.h
@@ -40,8 +40,8 @@
            kDrivetrainEncoderCountsPerRevolution();
   }
 
-  static constexpr double kDrivetrainShifterPotMaxVoltage() { return 2.0; }
-  static constexpr double kDrivetrainShifterPotMinVoltage() { return 1.0; }
+  static constexpr double kDrivetrainShifterPotMaxVoltage() { return 1.94; }
+  static constexpr double kDrivetrainShifterPotMinVoltage() { return 3.63; }
 
   static constexpr double kProximalEncoderCountsPerRevolution() { return 4096.0; }
   static constexpr double kProximalEncoderRatio() {
@@ -68,7 +68,9 @@
   static constexpr double kIntakeSpringRatio() {
     return (10.0 * 0.080) / (2.0 * 1.5 * M_PI);
   }
-  static constexpr double kIntakeMotorEncoderCountsPerRevolution() { return 4096.0; }
+  static constexpr double kIntakeMotorEncoderCountsPerRevolution() {
+    return 4096.0;
+  }
   static constexpr double kIntakeMotorEncoderRatio() {
     return (18.0 / 68.0) * (18.0 / 50.0);
   }
@@ -81,6 +83,7 @@
   }
 
   static constexpr ::frc971::constants::Range kIntakeRange() {
+    // TODO(austin) Sort this out.
     return ::frc971::constants::Range{(-0.75 * M_PI), (1.25 * M_PI),
                                       (-2.0 / 3.0 * M_PI), M_PI};
   }