commit 3b6977ea57255a23e04319f69a458fcf5a9bd2db
author Campbell Crowley <mail@campbellcrowley.com> Sun Aug 07 16:27:03 2016 -0700
committer Campbell Crowley <mail@campbellcrowley.com> Sun Aug 07 17:17:13 2016 -0700
tree 014ee1567a63e26b5efd9d5059a6e7c65b7f5a46
parent 3f3deb7a5fa70bb01b669b4b57127613c8e0e84d

Fixed gearbox ratios

Change-Id: I4b756d15b60530e1b224c7adbf8fe461371704a0

y2016/constants.cc

diff --git a/y2016/constants.cc b/y2016/constants.cc
index d692c3d..974a82d 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -93,7 +93,7 @@
           {
            // Value to add to the pot reading for the shoulder.
            -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 +
-               0.0035 + 0.0055 - 0.001 - 0.0103 + 0.0032,
+               0.0035 + 0.0055 - 0.001 - 0.0103 + 0.0032 - 0.0755,
            {Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
             0.535359, 2.5},
           },

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index d52555c..a83456c 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -33,14 +33,14 @@
   // Ratios for our subsystems.
   static constexpr double kShooterEncoderRatio = 1.0;
   static constexpr double kIntakeEncoderRatio =
-      16.0 / 48.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      14.0 / 64.0 * 18.0 / 72.0 * 16.0 / 48.0;
   static constexpr double kShoulderEncoderRatio =
-      12.0 / 42.0 * 18.0 / 72.0 * 14.0 / 64.0;
+      14.0 / 64.0 * 18.0 / 72.0 * 12.0 / 42.0;
   static constexpr double kWristEncoderRatio =
-      16.0 / 48.0 * 18.0 / 64.0 * 14.0 / 54.0;
+      14.0 / 54.0 * 18.0 / 64.0 * 16.0 / 48.0;
 
-  static constexpr double kIntakePotRatio = 16.0 / 48.0 * 18.0 / 72.0;
-  static constexpr double kShoulderPotRatio = 16.0 / 58.0;
+  static constexpr double kIntakePotRatio = 18.0 / 72.0 * 16.0 / 48.0;
+  static constexpr double kShoulderPotRatio = 12.0 / 42.0;
   static constexpr double kWristPotRatio = 16.0 / 48.0;
 
   // Difference in radians between index pulses.