Recalibrated 2016 bot.
From working with the bot last, it needed to be calibrated. We need
to verify the calibration on all of the joints before running it
again.
Change-Id: Ib9336f6ca4de2344f72f420c6773b80ebb24b0ee
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 5353d6e..3e16b0c 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -123,9 +123,9 @@
// Shoulder (Now calibrated at 0)
{
-1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441 +
- 0.0034 + 0.0065,
+ 0.0034 + 0.0065 - 0.0505,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.126458, 1.3},
+ 0.027180, 1.3},
},
// Wrist
diff --git a/y2016/control_loops/superstructure/superstructure.q b/y2016/control_loops/superstructure/superstructure.q
index 842beb7..76c9850 100644
--- a/y2016/control_loops/superstructure/superstructure.q
+++ b/y2016/control_loops/superstructure/superstructure.q
@@ -37,14 +37,17 @@
message Goal {
// Zero on the intake is when the horizontal tube stock members are level
- // with the ground. This will be essentially when we are in the intaking
- // position. Positive is up. The angle is measured relative to the top
+ // with the top frame rails of the robot. This will be essentially when we
+ // are in the intaking position. Positive is up. The angle is measured
+ // relative to the top
// of the robot frame.
- // Zero on the shoulder is horizontal. Positive is up. The angle is
- // measured relative to the top of the robot frame.
+ // Zero on the shoulder is when the shoulder is down against the hard stop
+ // blocks. Positive is up. The angle is measured relative to the top of
+ // the robot frame.
// Zero on the wrist is horizontal and landed in the bellypan. Positive is
// the same direction as the shoulder. The angle is measured relative to
- // the top of the robot frame.
+ // the top of the robot frame. For calibration, 0 is measured as parallel
+ // to the big frame supporting the shooter.
// Goal angles and angular velocities of the superstructure subsystems.
double angle_intake;