Bringup main robot
This gets all mechanisms zeroed and running.
Many profiles are still heavily detuned.
Catapult motors are moved to the CANivore bus.
Change-Id: I38a1845f804bd490d5fff285c636010ac8ea2c27
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index c2902af..27f28ac 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -6,8 +6,8 @@
{# we do this here so we keep the encoder ratio in plaintext and also keep the math we're using. #}
{% set intake_pivot_encoder_ratio = (15.0 / 24.0) %}
-{% set intake_upper = 2.1 %}
-{% set intake_lower = 0.1 %}
+{% set intake_upper = 1.75 %}
+{% set intake_lower = -0.195 %}
{%
set intake_pivot_zero = {
@@ -33,7 +33,7 @@
%}
{% set climber_encoder_ratio = (16.0 / 60.0) %}
-{% set climber_circumference = 16.0 * 0.25 / 2.0 / pi * 0.0254 %}
+{% set climber_circumference = 16.0 * 0.25 * 0.0254 %}
{%
set climber_zero = {
"average_filter_size": zeroing_sample_size,