commit 2efe168b06b79963f71251110b807835aa9ca482
author Austin Schuh <austin.linux@gmail.com> Sat Mar 06 22:47:15 2021 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 07 22:50:18 2021 -0800
tree a3b9cac0e3bb23e0017bae2d402b3bea0f0e8f7f
parent 7fe26b60e15058eca526731740f65037395e3e47

Tune new hood

Now that we've got better hardware, remove all the hacks to make the old
hood work and tune it.  Much better!

Change-Id: I923cff6c133a23e732b7b593d92a5fa40398a298

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index d59a167..b3551aa 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -35,7 +35,7 @@
       *const hood = &r->hood;
 
   // Hood constants.
-  hood->zeroing_voltage = 3.0;
+  hood->zeroing_voltage = 2.0;
   hood->operating_voltage = 12.0;
   hood->zeroing_profile_params = {0.5, 3.0};
   hood->default_profile_params = {6.0, 30.0};
@@ -109,8 +109,6 @@
       break;
 
     case kCompTeamNumber:
-      hood->zeroing_constants.measured_absolute_position = 0.266691815725476;
-
       intake->zeroing_constants.measured_absolute_position =
           1.42977866919024 - Values::kIntakeZero();
 
@@ -119,8 +117,9 @@
       turret_params->zeroing_constants.measured_absolute_position =
           0.547478339799516;
 
-      hood->zeroing_constants.measured_absolute_position = 0.03207;
-      hood->zeroing_constants.single_turn_measured_absolute_position = 0.31055;
+      hood->zeroing_constants.measured_absolute_position = 0.0344482433884915;
+      hood->zeroing_constants.single_turn_measured_absolute_position =
+          0.31055891442198;
       break;
 
     case kPracticeTeamNumber: