Calibrated competition robot.
Change-Id: I8910aac936461bb17d9d700a239c54ded2965401
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 43f5adf..56798a2 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -182,43 +182,41 @@
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
// TODO(sensors): Get actual bounds before turning on robot.
- {
- // Claw values, in radians.
- // 0 is level with the ground.
- // Positive moves in the direction of positive encoder values.
- {0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000},
+ {// Claw values, in radians.
+ // 0 is level with the ground.
+ // Positive moves in the direction of positive encoder values.
+ {-0.05, M_PI / 2.0 + 0.1, 0.0, M_PI / 2.0},
- // Zeroing constants for wrist.
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
+ // Zeroing constants for wrist.
+ {kZeroingSampleSize, kClawEncoderIndexDifference,
+ 0.9104180000000001},
- 0.0,
- kClawPistonSwitchTime,
- kClawZeroingRange
- },
+ 6.308141,
+ kClawPistonSwitchTime,
+ kClawZeroingRange},
- {
- // Elevator values, in meters.
- // 0 is at the top of the elevator frame.
- // Positive is down towards the drivebase.
- {0.0000000000, 0.6790000000,
- 0.2000000000, 0.6000000000},
+ {// Elevator values, in meters.
+ // 0 is the portion of the elevator carriage that Spencer removed
+ // lining up with the bolt.
+ // Positive is up.
+ {-0.00500, 0.679000, 0.010000, 0.650000},
- // Arm values, in radians.
- // 0 is sticking straight out horizontally over the intake/front.
- // Positive is rotating up and into the robot (towards the back).
- {-1.570000000, 1.5700000000,
- -1.200000000, 1.2000000000},
+ // Arm values, in radians.
+ // 0 is sticking straight out horizontally over the intake/front.
+ // Positive is rotating up and into the robot (towards the back).
+ {-M_PI / 2 - 0.05, M_PI / 2 + 0.05, -M_PI / 2, M_PI / 2},
- // Elevator zeroing constants: left, right.
- // TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- // Arm zeroing constants: left, right.
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- 0.0, 0.0, 0.0, 0.0,
-
+ // Elevator zeroing constants: left, right.
+ // TODO(sensors): Get actual offsets for these.
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.058672},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.078646},
+ // Arm zeroing constants: left, right.
+ {kZeroingSampleSize, kArmEncoderIndexDifference, -0.324437},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, -0.064683},
+ 0.722230,
+ -0.081354,
+ -3.509611 - 0.007415 - -0.019081,
+ 3.506927 - 0.170017 - -0.147970,
kArmZeroingHeight,
},
// End "sensor" values.