make the tests pass again
Change-Id: I311eadc00dd5fef9dd81a704d3d44676b4547aff
diff --git a/frc971/constants.cc b/frc971/constants.cc
index a8898a8..b724d15 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -113,41 +113,40 @@
// Motion ranges: hard_lower_limit, hard_upper_limit,
// soft_lower_limit, soft_upper_limit
- // TODO(sensors): Get actual bounds before turning on robot.
{// Claw values, in radians.
// 0 is level with the ground.
// Positive moves in the direction of positive encoder values.
- {0.0000000000, 1.5700000000, 0.1000000000, 1.2000000000},
+ {-0.05, M_PI / 2.0 + 0.1, 0.0, M_PI / 2.0},
// Zeroing constants for wrist.
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.35},
+ {kZeroingSampleSize, kClawEncoderIndexDifference,
+ 0.9},
- 0.0,
+ 6.308141,
kClawPistonSwitchTime,
kClawZeroingRange},
{// Elevator values, in meters.
- // TODO(austin): Fix this. Positive is up.
- // 0 is at the top of the elevator frame.
- // Positive is down towards the drivebase.
- {0.0000000000, 0.6790000000, 0.2000000000, 0.6000000000},
+ // 0 is the portion of the elevator carriage that Spencer removed
+ // lining up with the bolt.
+ // Positive is up.
+ {-0.005, 0.679000, 0.010000, 0.650000},
// Arm values, in radians.
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
- {-1.570000000, 1.5700000000, -1.200000000, 1.2000000000},
+ {-M_PI / 2 - 0.05, M_PI / 2 + 0.05, -M_PI / 2, M_PI / 2},
// Elevator zeroing constants: left, right.
- // TODO(sensors): Get actual offsets for these.
{kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
{kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
// Arm zeroing constants: left, right.
{kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
{kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- 0.0,
- 0.0,
- 0.0,
- 0.0,
+ 0.7,
+ -0.08,
+ -3.5 - 0.01 - -0.02,
+ 3.5 - 0.17 - -0.15,
kArmZeroingHeight,
kElevatorNormalHeight,
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index f7b987c..0c2052d 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -149,7 +149,7 @@
.angle(values.claw.wrist.lower_limit)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(5));
// We should not have moved.
VerifyNearGoal();
@@ -165,7 +165,7 @@
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(5));
ASSERT_TRUE(claw_queue_.status.FetchLatest());
EXPECT_TRUE(claw_queue_.status->zeroed);
@@ -198,7 +198,7 @@
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(6));
VerifyNearGoal();
}
@@ -211,7 +211,7 @@
.angle(values.claw.wrist.upper_hard_limit + 5.0)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(5));
claw_queue_.status.FetchLatest();
EXPECT_NEAR(values.claw.wrist.upper_limit,
@@ -238,7 +238,7 @@
ASSERT_TRUE(claw_queue_.goal.MakeWithBuilder()
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(5));
VerifyNearGoal();
}
@@ -251,7 +251,7 @@
.angle(M_PI / 4.0)
.Send());
// Zeroing will take a long time here.
- RunForTime(Time::InMS(12000));
+ RunForTime(Time::InSeconds(15));
VerifyNearGoal();
}
@@ -268,7 +268,7 @@
.angle(M_PI / 4.0)
.Send());
- RunForTime(Time::InMS(4000));
+ RunForTime(Time::InSeconds(5));
VerifyNearGoal();
SimulateSensorReset();
@@ -278,7 +278,7 @@
// Once again, it's going to take us awhile to rezero since we moved away from
// our index pulse.
- RunForTime(Time::InMS(10000));
+ RunForTime(Time::InSeconds(5));
VerifyNearGoal();
}