Recalibrate arm yet again.
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I91483382395a56a9886b7476cf1de27f202dc710
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 3e4ec4b..22e2d14 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -83,9 +83,9 @@
case kCompTeamNumber:
arm_proximal->zeroing.measured_absolute_position = 0.149079699400425;
- arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382 -
- 0.101200335326309 -
- 0.0820901660993467 - 0.0703733798337964;
+ arm_proximal->potentiometer_offset =
+ 0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
+ 0.0820901660993467 - 0.0703733798337964;
arm_distal->zeroing.measured_absolute_position = 0.617279923658987;
arm_distal->potentiometer_offset =
@@ -93,15 +93,15 @@
0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
0.0164398318919943 - 0.145833494945215;
- roll_joint->zeroing.measured_absolute_position = 0.926576490230748;
+ roll_joint->zeroing.measured_absolute_position = 1.23731142163436;
roll_joint->potentiometer_offset =
3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
- 0.5935210745062 + 0.166256655718334;
+ 0.5935210745062 + 0.166256655718334 - 0.12591438680483;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.183283543884167;
+ 0.372266733810684;
break;