commit 55891ba4b5ff15963f22d29dbd53af05fc4868f8
author Maxwell Henderson <maxwell.henderson@mailbox.org> Wed Sep 20 09:10:59 2023 -0700
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Sun Sep 24 11:01:02 2023 -0700
tree 0cd34fcf43e8d0f019d9ccbb7412f588d4593e61
parent 1ac7fb2a6297a002ded2d298dd6e5ddcc41e039f

Rezero arm and calibrate wrist

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I95a92f37f0e8aed3a4e3a973a8f23856073d568f

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 5ab6407..da4b68c 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -84,17 +84,18 @@
       break;
 
     case kCompTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.911194143585562;
+      arm_proximal->zeroing.measured_absolute_position = 0.911747959388894;
       arm_proximal->potentiometer_offset =
           10.5178592988554 + 0.0944609125285876 - 0.00826532984625095 +
-          0.167359305216504 + 0.135144500925909 - 0.214909475332252;
+          0.167359305216504 + 0.135144500925909 - 0.214909475332252 +
+          0.0377032255050543;
 
-      arm_distal->zeroing.measured_absolute_position = 0.295329750530428;
+      arm_distal->zeroing.measured_absolute_position = 0.280000862642767;
       arm_distal->potentiometer_offset =
           7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
           0.0143810684138064 + 0.00945555248207735 + 0.452446388633863 +
           0.0194863477007102 + 0.235993332670562 + 0.00138417783482921 -
-          1.29562640607084;
+          1.29562640607084 - 0.390356125757262;
 
       arm_distal->zeroing.one_revolution_distance =
           M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
@@ -108,7 +109,7 @@
           0.709274294168941;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          2.97717660361257;
+          0.919903042931046;
 
       break;