commit 4afefdb6d5038cc44d4c39b1dc50ffaae31f0467
author Nathan Leong <100028864@mvla.net> Wed Dec 21 21:17:19 2022 -0800
committer Nathan Leong <100028864@mvla.net> Wed Jan 18 19:44:48 2023 -0800
tree 91310e777f9a8525ab80afa66a547877d8174407
parent 130acf12f9d19f54de2e62f32d4ca03d660eebb5

Fix potentiometer offset constants

Fixed the potentiometer offset constants to work with
superstructure_lib_test.

Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I96ebc9cb6a0cbdd7129da4414fdc4e3af22042dc

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index e9aaa59..913525f 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -141,7 +141,7 @@
 
       {3.60, {0.39, 20.65}},
       {4.50, {0.44, 22.3}},
-      {4.9, {0.43, 22.75}}, // up to here
+      {4.9, {0.43, 22.75}},  // up to here
       {5.4, {0.43, 23.85}},
 
       {6.0, {0.42, 25.3}},
@@ -190,21 +190,21 @@
               {5, {4.0}},
           });
 
-      climber->potentiometer_offset = 0.0;
-      intake_front->potentiometer_offset = 0.0;
+      climber->potentiometer_offset = -0.035;
+      intake_front->potentiometer_offset = 3.122;
       intake_front->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.0;
-      intake_back->potentiometer_offset = 0.0;
+          .measured_absolute_position = 0.175;
+      intake_back->potentiometer_offset = 3.365;
       intake_back->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.0;
-      turret->potentiometer_offset = 0.0;
+          .measured_absolute_position = 0.051;
+      turret->potentiometer_offset = -7.932;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.0;
-      flipper_arm_left->potentiometer_offset = 0.0;
-      flipper_arm_right->potentiometer_offset = 0.0;
+          1.166;
+      flipper_arm_left->potentiometer_offset = -6.40;
+      flipper_arm_right->potentiometer_offset = 5.56;
 
       catapult_params->zeroing_constants.measured_absolute_position = 0.0;
-      catapult->potentiometer_offset = 0.0;
+      catapult->potentiometer_offset = -2.033;
 
       ball_color->reference_red = {0, 0, 1, 1};
       ball_color->reference_blue = {0, 0, 1, 1};
@@ -310,8 +310,10 @@
           .upper = 2.9         // Front Soft
       };
       turret_params->range = *turret_range;
-      flipper_arm_left->potentiometer_offset = -4.39536583413615 - 0.108401297910291;
-      flipper_arm_right->potentiometer_offset = 4.36264091401229 + 0.175896445665755;
+      flipper_arm_left->potentiometer_offset =
+          -4.39536583413615 - 0.108401297910291;
+      flipper_arm_right->potentiometer_offset =
+          4.36264091401229 + 0.175896445665755;
 
       catapult_params->zeroing_constants.measured_absolute_position =
           1.62909518684227;