Calibrated practice bot again.
Change-Id: Ie350c1115e63cd99b15e349573ae4f28656874a5
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 676db92..9a7f143 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -109,23 +109,25 @@
// Intake
{
- -4.654 + 150.40906362 * M_PI / 180.0,
+ // Hard stop is 164.2067247 degrees.
+ -4.654 + 0.5405079649920759 - 0.1755 + 161.25942780 * M_PI / 180.0 +
+ 0.007 + 0.062681,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
- -0.076004 + 150.40906362 * M_PI / 180.0, 0.3},
+ 0.826033, 0.3},
},
- // Shoulder
+ // Shoulder (Now calibrated at 0)
{
- -1.0016 + 0.06138835 * M_PI / 180.0,
+ -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.706940 + 0.06138835 * M_PI / 180.0, 0.3},
+ 0.014860, 0.3},
},
// Wrist
{
- 3.326328571170133 - 0.06138835 * M_PI / 180.0,
+ 3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -0.634131 - 0.06138835 * M_PI / 180.0, 0.3},
+ -0.141904, 0.3},
},
};
break;
diff --git a/y2016/constants.h b/y2016/constants.h
index d9ae7c4..776abfe 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -57,17 +57,17 @@
// Lower hard stop
-0.4,
// Upper hard stop
- 150.40906362 * M_PI / 180.0 + 0.05,
+ 164.2067247 * M_PI / 180.0 + 0.05,
// Lower soft stop
- -0.350,
+ -0.300,
// Uppper soft stop
1.8};
static constexpr ::frc971::constants::Range kShoulderRange{// Lower hard stop
- -0.010,
+ -0.050,
// Upper hard stop
2.8,
// Lower soft stop
- 0.00,
+ -0.010,
// Uppper soft stop
2.0};
static constexpr ::frc971::constants::Range kWristRange{// Lower hard stop