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/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);
   }