commit 23cc9eddb15aaad438aade1a13cd81ca56dee6f7
author Austin Schuh <austin.linux@gmail.com> Fri Feb 24 19:14:06 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 25 23:26:44 2017 -0800
tree 7181c9a0e93f1fee68a3c13f3e7aacd411ee64b1
parent 009b09ffa5200866c10c3147be915d0827589953

Calibrated joints for 2017

Change-Id: I54ca450e407fe2225b8e789ab0bffccac564c117

y2017/BUILD

diff --git a/y2017/BUILD b/y2017/BUILD
index 7d231dd..249f5f3 100644
--- a/y2017/BUILD
+++ b/y2017/BUILD
@@ -63,9 +63,24 @@
 )
 
 aos_downloader(
+  name = 'download',
+  start_srcs = [
+    ':joystick_reader',
+    ':wpilib_interface',
+    '//aos:prime_start_binaries',
+    '//y2017/control_loops/drivetrain:drivetrain',
+    '//y2017/control_loops/superstructure:superstructure',
+    '//y2017/actors:autonomous_action',
+  ],
+  srcs = [
+    '//aos:prime_binaries',
+  ],
+)
+
+aos_downloader(
   name = 'download_stripped',
   start_srcs = [
-    #':joystick_reader.stripped',
+    ':joystick_reader.stripped',
     ':wpilib_interface.stripped',
     '//aos:prime_start_binaries_stripped',
     '//y2017/control_loops/drivetrain:drivetrain.stripped',

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 7fe0693..ea99805 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -103,8 +103,21 @@
       break;
 
     case kCompTeamNumber:
-      intake->pot_offset = 0.2921 + 0.00039;
-      intake->zeroing.measured_absolute_position = 0.045209;
+      intake->pot_offset = 0.26712;
+      intake->zeroing.measured_absolute_position = 0.008913;
+
+      turret->pot_offset = 0;
+      turret->zeroing.measured_absolute_position = 0;
+
+      hood->zeroing.measured_index_position = 0.652898 - 0.488117;
+
+      r->down_error = 0;
+      r->vision_name = "competition";
+      break;
+
+    case kPracticeTeamNumber:
+      intake->pot_offset = 0.2921 + 0.00039 + 0.012236;
+      intake->zeroing.measured_absolute_position = 0.033408;
 
       turret->pot_offset = -5.45 - 0.026111;
       turret->zeroing.measured_absolute_position = 0.2429;
@@ -112,22 +125,10 @@
       hood->zeroing.measured_index_position = 0.655432 - 0.460505;
 
       r->down_error = 0;
-      r->vision_name = "competition";
-      break;
-
-    case kPracticeTeamNumber:
-      intake->pot_offset = 0;
-      intake->zeroing.measured_absolute_position = 0;
-
-      turret->pot_offset = 0;
-      turret->zeroing.measured_absolute_position = 0;
-
-      hood->zeroing.measured_index_position = 0.05;
-
-      r->down_error = 0;
       r->vision_name = "practice";
       break;
 
+
     default:
       LOG(FATAL, "unknown team #%" PRIu16 "\n", team);
   }

y2017/constants.h

diff --git a/y2017/constants.h b/y2017/constants.h
index 49b7afa..e011501 100644
--- a/y2017/constants.h
+++ b/y2017/constants.h
@@ -74,9 +74,8 @@
       control_loops::superstructure::intake::kOutputRatio /
       constants::Values::kIntakeEncoderRatio *
       kIntakeEncoderCountsPerRevolution;
-  static constexpr ::frc971::constants::Range kIntakeRange{
-      -0.29878633 * 0.0254, 9.23012063 * 0.0254, (-0.29878633 + 0.125) * 0.0254,
-      (9.23012063 - 0.125) * 0.0254};
+  static constexpr ::frc971::constants::Range kIntakeRange{-0.01, 0.240, 0.01,
+                                                           0.21};
 
   static constexpr double kHoodEncoderCountsPerRevolution = 2048 * 4;
   static constexpr double kHoodEncoderRatio = 20.0 / 345.0;