Fix all the climber signs and make them all work
Now that the HW exists, let's do it. Zero is all the way down against
the hard stop.
Change-Id: I8661c25e6ce8badab26a6d1b642bcc9d754d4878
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 2e7c5a9..0b4a591 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -88,7 +88,7 @@
climber->subsystem_params.zeroing_voltage = 3.0;
climber->subsystem_params.operating_voltage = 12.0;
climber->subsystem_params.zeroing_profile_params = {0.5, 0.1};
- climber->subsystem_params.default_profile_params = {6.0, 1.0};
+ climber->subsystem_params.default_profile_params = {5.0, 1.0};
climber->subsystem_params.range = Values::kClimberRange();
climber->subsystem_params.make_integral_loop =
control_loops::superstructure::climber::MakeIntegralClimberLoop;
@@ -162,7 +162,7 @@
break;
case kCompTeamNumber:
- climber->potentiometer_offset = 0.0;
+ climber->potentiometer_offset = -0.0463847608752;
intake_front->potentiometer_offset = 2.79628370453323;
intake_front->subsystem_params.zeroing_constants