commit 00c730d45e241e494d8c22b52340769ea9a83a9a
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Dec 14 20:29:53 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Wed Dec 14 21:30:21 2022 -0700
tree 94b2097c52b64f531358b057ebb15e3d2bcabe5d
parent 7fdbd66e319a465d1b2c3871cd89dc55d7d7900d

Revert "Added units per volt ratio constants"

This reverts commit 7fdbd66e319a465d1b2c3871cd89dc55d7d7900d.

Reason for revert: Breaks master

Change-Id: I6b82ba68b9f58162474b7431ad50f898b98d8a70
Signed-off-by: jabukuszmaul+collab@gmail.com

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index af6e829..c97058e 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -10,7 +10,6 @@
 #include "absl/base/call_once.h"
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
-#include "frc971/wpilib/wpilib_utils.h"
 #include "glog/logging.h"
 #include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
 #include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
@@ -191,25 +190,21 @@
               {5, {4.0}},
           });
 
-      climber->potentiometer_offset = -0.035;
-
-      intake_front->potentiometer_offset = 3.122;
+      climber->potentiometer_offset = 0.0;
+      intake_front->potentiometer_offset = 0.0;
       intake_front->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.175;
-
-      intake_back->potentiometer_offset = 3.365;
+          .measured_absolute_position = 0.0;
+      intake_back->potentiometer_offset = 0.0;
       intake_back->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.052;
-
-      turret->potentiometer_offset = -10.668;
+          .measured_absolute_position = 0.0;
+      turret->potentiometer_offset = 0.0;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          1.308;
+          0.0;
+      flipper_arm_left->potentiometer_offset = 0.0;
+      flipper_arm_right->potentiometer_offset = 0.0;
 
-      flipper_arm_left->potentiometer_offset = -6.40;
-      flipper_arm_right->potentiometer_offset = 5.56;
-
-      catapult_params->zeroing_constants.measured_absolute_position = 1.717;
-      catapult->potentiometer_offset = -2.034;
+      catapult_params->zeroing_constants.measured_absolute_position = 0.0;
+      catapult->potentiometer_offset = 0.0;
 
       ball_color->reference_red = {0, 0, 1, 1};
       ball_color->reference_blue = {0, 0, 1, 1};
@@ -353,47 +348,6 @@
       LOG(FATAL) << "unknown team: " << team;
   }
 
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      Values::kClimberRange(), climber->potentiometer_offset,
-      [](double meters) { return meters / Values::kClimberPotMetersPerVolt(); },
-      false))
-      << "Couldn't translate climber pot";
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      Values::kFlipperArmRange(), flipper_arm_left->potentiometer_offset,
-      [](double radians) {
-        return radians / Values::kFlipperArmsPotRadiansPerVolt();
-      },
-      false))
-      << "Couldn't translate flipper left pot";
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      Values::kFlipperArmRange(), flipper_arm_right->potentiometer_offset,
-      [](double radians) {
-        return radians / Values::kFlipperArmsPotRadiansPerVolt();
-      },
-      true))
-      << "Couldn't translate flipper right pot";
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      Values::kIntakeRange(), intake_front->potentiometer_offset,
-      [](double radians) {
-        return radians / Values::kIntakePotRadiansPerVolt();
-      },
-      true))
-      << "Couldn't translate front intake pot";
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      Values::kIntakeRange(), intake_back->potentiometer_offset,
-      [](double radians) {
-        return radians / Values::kIntakePotRadiansPerVolt();
-      },
-      true))
-      << "Couldn't translate back intake pot";
-  CHECK(frc971::wpilib::SafePotVoltageRange(
-      *turret_range, turret->potentiometer_offset,
-      [](double radians) {
-        return radians / Values::kTurretPotRadiansPerVolt();
-      },
-      false))
-      << "Couldn't translate turret pot";
-
   return r;
 }