commit 37dc40be4112f7624d4793d11c3253b3b5927b1b
author milind-u <milind.upadhyay@gmail.com> Tue Mar 08 19:51:27 2022 -0800
committer milind-u <milind.upadhyay@gmail.com> Tue Mar 08 19:51:57 2022 -0800
tree 0f48b102b72815f9b5d40dd401eafd953c528c83
parent 6cd631fc7ccecb5aa7412f0b74f55f0aa26df784

Bringup progress

Here's how far I got bringing the robot up.  Turret needs to be
re-calibrated again, it keeps slipping.

Change-Id: Idf8cb73973434cf9c64fd737852f1b3092b79c75
Signed-off-by: milind-u <milind.upadhyay@gmail.com>

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index cab73e2..7162dfa 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -68,7 +68,7 @@
   auto *const turret_params = &turret->subsystem_params;
 
   turret_params->zeroing_voltage = 4.0;
-  turret_params->operating_voltage = 8.0;
+  turret_params->operating_voltage = 4.0;
   turret_params->zeroing_profile_params = {0.5, 2.0};
   turret_params->default_profile_params = {15.0, 40.0};
   turret_params->range = Values::kTurretRange();
@@ -161,9 +161,9 @@
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.280099007470002;
 
-      turret->potentiometer_offset = -9.99970387166721;
+      turret->potentiometer_offset = -9.99970387166721 + 0.06415943;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.638321248163561;
+          0.587661064668491;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.66;