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/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 6bb55f7..bf5cfda 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -186,7 +186,7 @@
CopyPosition(catapult_encoder_, &catapult,
Values::kCatapultEncoderCountsPerRevolution(),
Values::kCatapultEncoderRatio(), catapult_pot_translate,
- true, values_->catapult.potentiometer_offset);
+ false, values_->catapult.potentiometer_offset);
flatbuffers::Offset<frc971::PotAndAbsolutePosition> catapult_offset =
frc971::PotAndAbsolutePosition::Pack(*builder.fbb(), &catapult);
@@ -210,12 +210,13 @@
frc971::PotAndAbsolutePositionT intake_front;
CopyPosition(intake_encoder_front_, &intake_front,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(), intake_pot_translate, true,
values_->intake_front.potentiometer_offset);
frc971::PotAndAbsolutePositionT intake_back;
CopyPosition(intake_encoder_back_, &intake_back,
Values::kIntakeEncoderCountsPerRevolution(),
- Values::kIntakeEncoderRatio(), intake_pot_translate, false,
+ Values::kIntakeEncoderRatio(),
+ intake_pot_translate, true,
values_->intake_back.potentiometer_offset);
frc971::PotAndAbsolutePositionT turret;
CopyPosition(turret_encoder_, &turret,