commit 399b184384b801d677205586af429683608363d6
author Austin Schuh <austin.linux@gmail.com> Sat Apr 16 14:26:10 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Apr 16 19:12:01 2022 -0700
tree c333bf3621383c3386bfe4be04b498be14ef3a3b
parent 37f6fe820c655709df6de47c52792bed1ea9a318

Recalibrate practice bot after turret slipped

Change-Id: I69c3b1b74a8f8beae57cf111d326b81dce0ee7ad
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index fb91cc5..3fbe27b 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -254,9 +254,10 @@
       intake_back->potentiometer_offset = 3.10861174832838;
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.140554083520329;
-      turret->potentiometer_offset = -8.14418207451834 + 0.342635491808218;
+      turret->potentiometer_offset =
+          -8.14418207451834 + 0.342635491808218 - 0.944807955598189;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          1.15423161235124;
+          0.524976896930003;
       turret_range->upper = 3.0;
       turret_params->range = *turret_range;
       flipper_arm_left->potentiometer_offset = -4.39536583413615;

y2022/vision/camera_definition.py

diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 11f3918..dbb23ad 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -113,7 +113,7 @@
             T = np.array([-10.25 * 0.0254, -5.0 * 0.0254, 27.5 * 0.0254])
     elif team_number == 9971:
         if pi_number == "pi1":
-            camera_yaw = 180.0 * np.pi / 180.0
+            camera_yaw = 178.0 * np.pi / 180.0
             T = np.array([0.0 * 0.0254, 8.5 * 0.0254, 34.0 * 0.0254])
         elif pi_number == "pi2":
             camera_yaw = 0.0