commit 0b6fed6ce047b21976c6f9b01f873566a4fb64db
author Maxwell Henderson <mxwhenderson@gmail.com> Fri Feb 23 11:05:09 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Fri Feb 23 11:05:09 2024 -0800
tree 3640a20474433a66d98b29738436355e4554408f
parent 0b3f5f68208b99becc5b242dcd6270004e858d0a

Add altitude zeroing

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I5623efb67ab95dcc60547428c6a0988378aab817

y2024/constants/971.json

diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index 34962af..0762242 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -39,11 +39,11 @@
     "altitude_constants": {
       {% set _ = altitude_zero.update(
           {
-              "measured_absolute_position" : 0.0
+              "measured_absolute_position" : 0.130841088837793
           }
       ) %}
       "zeroing_constants": {{ altitude_zero | tojson(indent=2)}},
-      "potentiometer_offset": 0.0
+      "potentiometer_offset": -0.15316323147786
     },
     "turret_constants": {
       {% set _ = turret_zero.update(

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 3d0b7a5..2cd4672 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -94,7 +94,7 @@
 }
 
 double altitude_pot_translate(double voltage) {
-  return voltage * Values::kAltitudePotRadiansPerVolt();
+  return -1 * voltage * Values::kAltitudePotRadiansPerVolt();
 }
 
 double drivetrain_velocity_translate(double in) {