Update Constants for Practice Bot
Signed-off-by: Xander Yee <xander.yee@gmail.com>
Change-Id: I732af369c9d016ee2236fc3fca13bef78053e84d
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 5d8a6cd..dcce935 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -116,13 +116,14 @@
break;
case kPracticeTeamNumber:
- arm_proximal->zeroing.measured_absolute_position = 0.20382113250339;
+ arm_proximal->zeroing.measured_absolute_position = 0.585858300637312;
arm_proximal->potentiometer_offset =
0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
0.0820901660993467 - 0.0703733798337964 - 0.0294645384848748 -
- 0.577156175549626 - 0.000944609125286267 + 2.725142829769231;
+ 0.577156175549626 - 0.000944609125286267 + 2.725142829769231 -
+ 6.38385012428248;
- arm_distal->zeroing.measured_absolute_position = 0.495791180283887;
+ arm_distal->zeroing.measured_absolute_position = 0.650190739752296;
arm_distal->potentiometer_offset =
0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
@@ -130,12 +131,12 @@
0.125924230298394 + 0.147136306208754 - 0.69167546169753 -
0.308761538844425 + 0.610386472488493 + 0.08384162885249 +
0.0262274735196811 + 0.5153995156153 - 0.4485275474911 -
- 0.417143262506383;
+ 0.417143262506383 + 0.0808060249784878;
arm_distal->zeroing.one_revolution_distance =
M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
- roll_joint->zeroing.measured_absolute_position = 0.33405867628836;
+ roll_joint->zeroing.measured_absolute_position = 0.79919822250646;
roll_joint->potentiometer_offset =
-(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
@@ -144,10 +145,11 @@
0.11972765117321 - 0.318724743041507) +
0.0201047336425017 - 1.0173426655158 - 0.186085272847293 -
0.0317706563397807 - 2.6357823523782 + 0.871932806570122 +
- 1.09682107821155 - 0.193945964842277 + 0.811834321668829;
+ 1.09682107821155 - 0.193945964842277 + 0.811834321668829 -
+ 0.913134567575683;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 3.07684945189677;
+ 2.94344206522199;
break;