commit 35b5aadde7f9a533e5977c2a22254ae2acb59104
author Filip Kujawa <filip.j.kujawa@gmail.com> Tue Nov 14 21:53:19 2023 -0800
committer Filip Kujawa <filip.j.kujawa@gmail.com> Wed Nov 15 22:25:17 2023 -0800
tree f3a1d09e2f0ac014f6e4c3457065fff90a581bba
parent ffff93c3b2c4bf883f6a1ffdd8332761e0cd3168

3rd Robot bring up

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I1bb85cf323276c2239f2ae3af2f33df323162d99

y2023_bot3/constants.cc

diff --git a/y2023_bot3/constants.cc b/y2023_bot3/constants.cc
index 80c2a7a..0a99b94 100644
--- a/y2023_bot3/constants.cc
+++ b/y2023_bot3/constants.cc
@@ -28,7 +28,7 @@
   pivot_joint->subsystem_params.zeroing_voltage = 3.0;
   pivot_joint->subsystem_params.operating_voltage = 12.0;
   pivot_joint->subsystem_params.zeroing_profile_params = {0.5, 3.0};
-  pivot_joint->subsystem_params.default_profile_params = {0.5, 5.0};
+  pivot_joint->subsystem_params.default_profile_params = {5.0, 5.0};
   pivot_joint->subsystem_params.range = Values::kPivotJointRange();
   pivot_joint->subsystem_params.make_integral_loop =
       control_loops::superstructure::pivot_joint::MakeIntegralPivotJointLoop;
@@ -52,6 +52,10 @@
       break;
 
     case kThirdRobotTeamNumber:
+      pivot_joint->subsystem_params.zeroing_constants
+          .measured_absolute_position = 0.564786179025525;
+
+      pivot_joint->potentiometer_offset = 0.304569457401797 + 2.66972311194163;
       break;
 
     default: