commit 4e9f260afcdaa5e0c77a11e1eea24d17564cbaf5
author Milind Upadhyay <milind.upadhyay@gmail.com> Thu Sep 22 14:47:54 2022 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Oct 22 13:59:55 2022 -0700
tree 30919b1270cbb06e4d501d83ca449ccd7a704a73
parent 8720a98bae1b80041413ce8ebaaf69f34ad555e8

Recalibrate 2nd robot turret again

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I87c3d2b5fb1a007944f276dd3cab872ebdeb504d

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index af6cfda..08bbf73 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -280,13 +280,15 @@
       intake_back->potentiometer_offset = 3.10861174832838 + 0.431432052414186;
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.210881638218534;
+
       turret->potentiometer_offset = -8.14418207451834 + 0.342635491808218 -
                                      0.944807955598189 - 0.0718028442723373 -
-                                     0.0793332946417493 + 0.233707527214682;
+                                     0.0793332946417493 + 0.233707527214682 +
+                                     0.0828349540635251;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.417361401417553;
-      turret_range->upper = 2.66;
-      turret_range->lower = -6.79;
+          0.351510597170029;
+      turret_range->upper = 2.9;
+      turret_range->lower = -6.4;
       turret_params->range = *turret_range;
       flipper_arm_left->potentiometer_offset = -4.39536583413615;
       flipper_arm_right->potentiometer_offset = 4.36264091401229;