commit 18f6d876d85dc575c1a046daaa878a6e225fa347
author Brian Silverman <brians> Sat Mar 16 13:55:46 2013 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 16 17:27:13 2013 -0700
tree dcb46c3167ed41496316920081c095b706db5e7a
parent 893ba072d626d2ecc72ecc062ee2e3ec6141b291

fixes for the wrist code

wrist constants and starting

added printing of absolute pos to wrist

tweaked the wrist zeroing speed

Conflicts:
	frc971/constants.cpp

frc971/atom_code/scripts/start_list.txt

diff --git a/frc971/atom_code/scripts/start_list.txt b/frc971/atom_code/scripts/start_list.txt
index accb087..be11543 100644
--- a/frc971/atom_code/scripts/start_list.txt
+++ b/frc971/atom_code/scripts/start_list.txt
@@ -10,3 +10,4 @@
 CameraServer
 CameraHTTPStreamer
 angle_adjust
+wrist

frc971/constants.cpp

diff --git a/frc971/constants.cpp b/frc971/constants.cpp
index 36d8b31..9f3616b 100644
--- a/frc971/constants.cpp
+++ b/frc971/constants.cpp
@@ -19,23 +19,24 @@
 
 namespace {
 
-const double kCompWristHallEffectStartAngle = 72 * M_PI / 180.0;
-const double kPracticeWristHallEffectStartAngle = 72 * M_PI / 180.0;
+// It has about 0.029043 of gearbox slop.
+const double kCompWristHallEffectStartAngle = 1.0872860614359172;
+const double kPracticeWristHallEffectStartAngle = 1.0872860614359172;
 
 const double kCompWristHallEffectStopAngle = 100 * M_PI / 180.0;
 const double kPracticeWristHallEffectStopAngle = 100 * M_PI / 180.0;
 
-const double kPracticeWristUpperPhysicalLimit = 95 * M_PI / 180.0;
-const double kCompWristUpperPhysicalLimit = 95 * M_PI / 180.0;
+const double kPracticeWristUpperPhysicalLimit = 1.677562;
+const double kCompWristUpperPhysicalLimit = 1.677562;
 
-const double kPracticeWristLowerPhysicalLimit = -37.5 * M_PI / 180.0;
-const double kCompWristLowerPhysicalLimit = -37.5 * M_PI / 180.0;
+const double kPracticeWristLowerPhysicalLimit = -0.746128;
+const double kCompWristLowerPhysicalLimit = -0.746128;
 
-const double kPracticeWristUpperLimit = 93 * M_PI / 180.0;
-const double kCompWristUpperLimit = 93 * M_PI / 180.0;
+const double kPracticeWristUpperLimit = 1.615385;
+const double kCompWristUpperLimit = 1.615385;
 
-const double kPracticeWristLowerLimit = -36 * M_PI / 180.0;
-const double kCompWristLowerLimit = -36 * M_PI / 180.0;
+const double kPracticeWristLowerLimit = -0.746128;
+const double kCompWristLowerLimit = -0.746128;
 
 const double kWristZeroingSpeed = 0.25;
 const double kWristZeroingOffSpeed = 1.0;

frc971/control_loops/wrist/wrist.cc

diff --git a/frc971/control_loops/wrist/wrist.cc b/frc971/control_loops/wrist/wrist.cc
index e364cd6..8c4ae1a 100644
--- a/frc971/control_loops/wrist/wrist.cc
+++ b/frc971/control_loops/wrist/wrist.cc
@@ -87,9 +87,10 @@
     goal->goal, 0.0);
 
   if (position) {
-    //LOG(DEBUG, "pos=%f zero=%f currently %f hall: %s\n",
-        //position->pos, zero_offset_, absolute_position,
-        //position->hall_effect ? "true" : "false");
+    LOG(DEBUG, "pos: %f hall: %s absolute: %f\n",
+        position->pos,
+        position->hall_effect ? "true" : "false",
+        zeroed_joint_.absolute_position());
   }
 
   if (output) {