Calibrate 2022 robot
Flip the intake up/down direction to be easier to measure.
Change-Id: I15eba65f8a675ff97e8891bc9a18c69177cba036
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 0342816..225ed87 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -152,20 +152,25 @@
case kCompTeamNumber:
climber->potentiometer_offset = 0.0;
- intake_front->potentiometer_offset = 0.0;
- intake_front->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- intake_back->potentiometer_offset = 0.0;
- intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.0;
- turret->potentiometer_offset = 0.0;
- turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.0;
- flipper_arm_left->potentiometer_offset = 0.0;
- flipper_arm_right->potentiometer_offset = 0.0;
- catapult_params->zeroing_constants.measured_absolute_position = 0.0;
- catapult->potentiometer_offset = 0.0;
+ intake_front->potentiometer_offset = 2.79628370453323;
+ intake_front->subsystem_params.zeroing_constants
+ .measured_absolute_position = 0.248921954833972;
+
+ intake_back->potentiometer_offset = 3.1409576474047;
+ intake_back->subsystem_params.zeroing_constants
+ .measured_absolute_position = 0.280099007470002;
+
+ turret->potentiometer_offset = -9.99970387166721;
+ turret->subsystem_params.zeroing_constants.measured_absolute_position =
+ 0.638321248163561;
+
+ flipper_arm_left->potentiometer_offset = -6.4;
+ flipper_arm_right->potentiometer_offset = -5.66;
+
+ catapult_params->zeroing_constants.measured_absolute_position =
+ 1.71723370408082;
+ catapult->potentiometer_offset = -2.03383240293769;
break;
case kPracticeTeamNumber: