commit 2d15c3544720edff26d05acc5855fcc634293a2c
author Austin Schuh <austin.linux@gmail.com> Fri Apr 14 23:44:41 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Tue Apr 25 22:29:23 2023 -0700
tree 6d599977e26f340053d5fbf1fddb346e9f075804
parent ffbe3b6f3237ef56974b0a688546487746c58e87

Calibrate practice robot after arm gearbox replacement

Change-Id: I7e4ce1a323615da0e601f658e8f24efaa2afd29a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 3d3dfc2..c4a2412 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -117,16 +117,17 @@
       break;
 
     case kPracticeTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.140348044909775;
+      arm_proximal->zeroing.measured_absolute_position = 0.911194143585562;
       arm_proximal->potentiometer_offset =
           10.5178592988554 + 0.0944609125285876 - 0.00826532984625095 +
-          0.167359305216504 + 0.135144500925909;
+          0.167359305216504 + 0.135144500925909 - 0.214909475332252;
 
-      arm_distal->zeroing.measured_absolute_position = 0.860219239796068;
+      arm_distal->zeroing.measured_absolute_position = 0.295329750530428;
       arm_distal->potentiometer_offset =
           7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
           0.0143810684138064 + 0.00945555248207735 + 0.452446388633863 +
-          0.0194863477007102  + 0.235993332670562 + 0.00138417783482921;
+          0.0194863477007102 + 0.235993332670562 + 0.00138417783482921 -
+          1.29562640607084;
 
       arm_distal->zeroing.one_revolution_distance =
           M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
@@ -141,7 +142,7 @@
           0.709274294168941;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          4.68612810338484;
+          2.97717660361257;
 
       break;