commit 1b4cd44e499a56edc78f5cf2ca9b83a61bf6ad0f
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 11 15:46:28 2023 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 11 17:54:28 2023 -0800
tree 520f0f47991c1cfc949664dacd2dc904be9d3402
parent 7e167658f1b377cd8477ede77e43751876bc4d74

Rezero/reconfigure practice bot wrist

Change-Id: Ic380ac417ef6575658b45ddd2ea1301db14fd038
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 4bd2096..c2a09aa 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -125,14 +125,7 @@
           0.0257708772364788 - 0.0395076737853459 - 6.87914956118006;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.0227022553749391;
-
-      wrist->subsystem_params.zeroing_constants.one_revolution_distance =
-          M_PI * 2.0 * constants::Values::kPracticeWristEncoderRatio();
-      wrist->subsystem_params.range = Values::kPracticeWristRange();
-      wrist->subsystem_params.zeroing_constants.middle_position =
-          Values::kPracticeWristRange().middle();
-      r.wrist_flipped = false;
+          6.04062267812154;
 
       break;