Fixed control loop driving in drivetrain_input
Change-Id: I9de8c94e5378a8db2299d5d5b3d2c6c121c7d8dc
diff --git a/y2019/constants.cc b/y2019/constants.cc
index dfd3c69..b2e4f3d 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -186,8 +186,9 @@
wrist_params->zeroing_constants.measured_absolute_position = 0.163840;
wrist->potentiometer_offset = -4.257454;
- stilts_params->zeroing_constants.measured_absolute_position = 0.030049;
- stilts->potentiometer_offset = -0.015760 + 0.011604;
+ stilts_params->zeroing_constants.measured_absolute_position = 0.072829;
+ stilts->potentiometer_offset = -0.015760 + 0.011604 - 0.061213;
+ FillCameraPoses(vision::CompBotTeensyId(), &r->cameras);
break;
case kPracticeTeamNumber:
diff --git a/y2019/vision/constants.h b/y2019/vision/constants.h
index faa16e1..b61bff7 100644
--- a/y2019/vision/constants.h
+++ b/y2019/vision/constants.h
@@ -82,6 +82,7 @@
// Serial number of the teensy for each robot.
constexpr uint32_t CodeBotTeensyId() { return 0xffff322e; }
constexpr uint32_t PracticeBotTeensyId() { return 0xffff3215; }
+constexpr uint32_t CompBotTeensyId() { return 0xffff3210; }
// Get the IDs of the cameras in each port for a particular teensy board.
// inlined so that we don't have to deal with including it in the autogenerated
@@ -92,6 +93,8 @@
return {{0, 0, 0, 16, 19}};
case PracticeBotTeensyId():
return {{14, 15, 18, 17, 1}};
+ case CompBotTeensyId():
+ return {{6, 7, 8, 9, 10}};
default:
return {{0, 0, 0, 0, 0}};
}