Calibrated superstructure again and redid buttons.
Change-Id: Ib3db490c68b628686768796d9d0d5782dc3a0065
diff --git a/y2018/constants.cc b/y2018/constants.cc
index b1ee83f..90e4441 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -59,6 +59,10 @@
arm_distal->zeroing.moving_buffer_size = 20;
arm_distal->zeroing.allowable_encoder_error = 0.9;
+ constexpr double kDistalZeroingPosition =
+ M_PI * 3.0 / 2.0 + (28.5 / 180.0) * M_PI;
+ // 5.209807817203074
+
switch (team) {
// A set of constants for tests.
case 1:
@@ -103,19 +107,20 @@
r->vision_name = "practice";
r->vision_error = 0.0;
- left_intake->zeroing.measured_absolute_position = 0.3332;
- left_intake->potentiometer_offset = -10.55;
- left_intake->spring_offset = -0.249;
+ left_intake->zeroing.measured_absolute_position = 0.031709;
+ left_intake->potentiometer_offset = -10.55 - 3.621232 + 4.996959;
+ left_intake->spring_offset = -0.249 - 0.002;
- right_intake->zeroing.measured_absolute_position = 0.539284;
- right_intake->potentiometer_offset = 9.59;
- right_intake->spring_offset = 0.255;
+ right_intake->zeroing.measured_absolute_position = 0.351376;
+ right_intake->potentiometer_offset = 9.59 + 1.530320 - 3.620648;
+ right_intake->spring_offset = 0.255 + 0.008;
- arm_proximal->zeroing.measured_absolute_position = 0.1877;
- arm_proximal->potentiometer_offset = -1.242;
+ arm_proximal->zeroing.measured_absolute_position = 0.1877 + 0.02;
+ arm_proximal->potentiometer_offset = -1.242 - 0.03;
- arm_distal->zeroing.measured_absolute_position = 0.28366 + M_PI;
- arm_distal->potentiometer_offset = 2.772210 + M_PI;
+ arm_distal->zeroing.measured_absolute_position =
+ 1.102987 - kDistalZeroingPosition;
+ arm_distal->potentiometer_offset = 2.772210 + M_PI + 0.434;
break;
default: