Re-tuned elevator due to encoder slipping.
Change-Id: I8bae834b10f0992af1a7dd7f32525f2b8bfe58ab
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 13775b9..58066c6 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -82,7 +82,7 @@
// Number of radians between index pulses on the claw.
const double kClawEncoderIndexDifference = 2.0 * M_PI * kClawEncoderRatio;
-const int kZeroingSampleSize = 20;
+const int kZeroingSampleSize = 200;
// TODO(danielp): All these values might need to change.
const double kClawPistonSwitchTime = 0.4;
@@ -206,9 +206,8 @@
{-M_PI / 2 - 0.05, M_PI / 2 + 0.05, -M_PI / 2, M_PI / 2},
// Elevator zeroing constants: left, right.
- // TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.066380, 0.3},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.051888, 0.3},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.094297, 0.3},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.106393, 0.3},
// Arm zeroing constants: left, right.
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.324437, 0.3},
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.064683, 0.3},