Tune end effector to hold cones
Adjust current limits and signs. It has now held a cube!
Change-Id: Ibb0a605b082a01e9dadd15fe43bd038610431da9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 45d93d9..8e29355 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -354,10 +354,10 @@
superstructure::CANFalconT roller_falcon_data;
roller_falcon_data.id = roller_falcon_->device_id();
roller_falcon_data.supply_current = roller_falcon_->supply_current();
- roller_falcon_data.torque_current = roller_falcon_->torque_current();
+ roller_falcon_data.torque_current = -roller_falcon_->torque_current();
roller_falcon_data.supply_voltage = roller_falcon_->supply_voltage();
roller_falcon_data.device_temp = roller_falcon_->device_temp();
- roller_falcon_data.position = roller_falcon_->position();
+ roller_falcon_data.position = -roller_falcon_->position();
roller_falcon_data_ =
std::make_optional<superstructure::CANFalconT>(roller_falcon_data);
}