commit 0cd91fbb4064d579bb1c6e9068df32cc57f5ccde
author Maxwell Henderson <maxwell.henderson@mailbox.org> Fri Sep 22 22:25:21 2023 -0700
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Sun Sep 24 14:01:39 2023 -0700
tree b45036c76438b191ab53cd6bc4a6ec39d5a278cc
parent 8f26064144679ca37f661ce2e89501af02dec564

Update arm paths to be more correct

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: Iec36a865cd2ac301f60a244e11e588acfc60cfb6

y2023/control_loops/python/graph_paths.py

diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index eb92ec8..ee40bf8 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -22,7 +22,7 @@
 points['Neutral'] = np.array((np.pi, 0.0, 0.0))
 
 points['GroundPickupBackConeUp'] = to_theta_with_circular_index_and_roll(
-    -1.07774334, 0.39, np.pi / 2.0, circular_index=1)
+    -1.07774334, 0.40, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -231,7 +231,7 @@
     ))
 
 points['GroundPickupBackCube'] = to_theta_with_circular_index_and_roll(
-    -1.102, 0.28, -np.pi / 2.0, circular_index=1)
+    -1.102, 0.30, -np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -246,7 +246,7 @@
     ))
 
 points['GroundPickupFrontCube'] = to_theta_with_circular_index_and_roll(
-    0.325603, 0.255189, np.pi / 2.0, circular_index=0)
+    0.325603, 0.275189, np.pi / 2.0, circular_index=0)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -261,7 +261,7 @@
     ))
 
 points['ScoreBackMidConeUp'] = to_theta_with_circular_index_and_roll(
-    -1.45013, 1.00354, np.pi / 2.0, circular_index=1)
+    -1.45013, 1.02354, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -476,7 +476,7 @@
     ))
 
 points['ScoreBackLowCube'] = to_theta_with_circular_index_and_roll(
-    -1.102, 0.3712121, -np.pi / 2.0, circular_index=1)
+    -1.102, 0.4012121, -np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -489,7 +489,7 @@
     ))
 
 points['ScoreBackMidCube'] = to_theta_with_circular_index_and_roll(
-    -1.27896, 0.84, -np.pi / 2.0, circular_index=1)
+    -1.27896, 0.89, -np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -515,7 +515,7 @@
 #points['ScoreBackHighCube'] = to_theta_with_circular_index_and_roll(
 #    -1.60932, 1.16839, np.pi / 2.0, circular_index=0)
 points['ScoreBackHighCube'] = np.array(
-    (4.77284735761704, -1.19952193130714, -np.pi / 2.0))
+    (4.77284735761704, -1.130291162076371, -np.pi / 2.0))
 
 named_segments.append(
     ThetaSplineSegment(

y2023/joystick_reader.cc

diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 874e691..f4d9ea6 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -186,7 +186,7 @@
     },
     {
         .index = arm::ScoreBackMidConeUpIndex(),
-        .wrist_goal = kConeWrist,
+        .wrist_goal = kConeWrist + 0.05,
         .game_piece = GamePiece::CONE_UP,
         .buttons = {{kMidConeScoreRight, SpotSelectionHint::RIGHT},
                     {kMidConeScoreLeft, SpotSelectionHint::LEFT}},