Calibrated hard and soft stops on the superstructure.
Change-Id: I1110b25dc165ec522e7fd7557d0fa07acf3d75e4
diff --git a/y2016/constants.h b/y2016/constants.h
index 615b607..98d38c7 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -53,11 +53,31 @@
// Subsystem motion ranges, in whatever units that their respective queues say
// the use.
- static constexpr ::frc971::constants::Range kIntakeRange{-0.270, 2.0, -0.200,
- 1.9};
- static constexpr ::frc971::constants::Range kShoulderRange{-0.050, 2.0, 0.000,
- 1.9};
- static constexpr ::frc971::constants::Range kWristRange{-2.0, 2.0, -1.9, 1.9};
+ static constexpr ::frc971::constants::Range kIntakeRange{
+ // Lower hard stop
+ -0.4,
+ // Upper hard stop
+ 150.40906362 * M_PI / 180.0 + 0.05,
+ // Lower soft stop
+ -0.350,
+ // Uppper soft stop
+ 1.8};
+ static constexpr ::frc971::constants::Range kShoulderRange{// Lower hard stop
+ -0.010,
+ // Upper hard stop
+ 2.8,
+ // Lower soft stop
+ 0.00,
+ // Uppper soft stop
+ 2.0};
+ static constexpr ::frc971::constants::Range kWristRange{// Lower hard stop
+ -2.8,
+ // Upper hard stop
+ 2.8,
+ // Lower soft stop
+ -2.4,
+ // Uppper soft stop
+ 2.4};
// ///// Dynamic constants. /////
double drivetrain_max_speed;