commit 1e8e874610eb21b9069d7f33f2ce58c5ae01fc1e
author Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:26:04 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:26:17 2023 -0700
tree ddcaa70c6cdf9d9c74d177ea7e4dededf1c2d545
parent 034c34eabc935ba774d8021724b601f97ac2ca82

Recalibrate both bots yet again

Wrist slips and arm movement...

Change-Id: I80460d9fe3bcc21b4310ef5f8b5041acf10ddccb
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index c2a09aa..f11c68c 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -83,19 +83,20 @@
       break;
 
     case kCompTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.138453705930275;
+      arm_proximal->zeroing.measured_absolute_position = 0.153241637089465;
       arm_proximal->potentiometer_offset =
           0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
-          0.0820901660993467 - 0.0703733798337964 - 0.0294645384848748;
+          0.0820901660993467 - 0.0703733798337964 - 0.0294645384848748 -
+          0.577156175549626;
 
-      arm_distal->zeroing.measured_absolute_position = 0.562947209110251;
+      arm_distal->zeroing.measured_absolute_position = 0.119544808434349;
       arm_distal->potentiometer_offset =
           0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
           0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
           0.0164398318919943 - 0.145833494945215 + 0.234878799868491 +
-          0.125924230298394 + 0.147136306208754;
+          0.125924230298394 + 0.147136306208754 - 0.69167546169753;
 
-      roll_joint->zeroing.measured_absolute_position = 0.593975883699743;
+      roll_joint->zeroing.measured_absolute_position = 0.62315534539819;
       roll_joint->potentiometer_offset =
           -(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
             0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
@@ -105,7 +106,7 @@
           0.0201047336425017 - 1.0173426655158 - 0.186085272847293 - 0.0317706563397807;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.894159203288852;
+          1.00731305518279;
 
       break;
 
@@ -119,10 +120,11 @@
           7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
           0.0143810684138064 + 0.00945555248207735;
 
-      roll_joint->zeroing.measured_absolute_position = 1.7490367887908;
+      roll_joint->zeroing.measured_absolute_position = 1.85482286175059;
       roll_joint->potentiometer_offset =
           0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
-          0.0257708772364788 - 0.0395076737853459 - 6.87914956118006;
+          0.0257708772364788 - 0.0395076737853459 - 6.87914956118006 -
+          0.097581301615046;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
           6.04062267812154;