commit 5593403d1025a6d391967cb567280395bf0b278c
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 12:45:27 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 12 00:29:23 2017 -0800
tree 5831fd19803fc0b61a683642bd3fcfdddcaf8bcc
parent f83da158fe8a83332573de971c9793fdecda9110

Added Zeroing Estimator for the column

Change-Id: I0c9dc557d91ed62f48d8ab6a9a20d2508e362b82

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 008e08b..b9361c7 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -62,6 +62,7 @@
   Values *const r = new Values();
   Values::Intake *const intake = &r->intake;
   Values::Hood *const hood = &r->hood;
+  Values::Column *const column = &r->column;
 
   r->drivetrain_max_speed = 5;
 
@@ -71,6 +72,9 @@
   intake->zeroing.moving_buffer_size = 20;
   intake->zeroing.allowable_encoder_error = 0.3;
 
+  column->indexer_zeroing.index_difference = 2.0 * M_PI;
+  column->turret_zeroing.index_difference = 2.0 * M_PI;
+
   hood->zeroing.index_pulse_count = 2;
   hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;
   hood->zeroing.known_index_pulse = 0;
@@ -81,6 +85,12 @@
       intake->pot_offset = 0;
       intake->zeroing.measured_absolute_position = 0;
 
+      column->indexer_zeroing.lower_hall_position = 2.0;
+      column->indexer_zeroing.upper_hall_position = 2.1;
+
+      column->turret_zeroing.lower_hall_position = 0;
+      column->turret_zeroing.upper_hall_position = 0.1;
+
       hood->pot_offset = 0.1;
       hood->zeroing.measured_index_position = 0.05;
 
@@ -92,6 +102,12 @@
       intake->pot_offset = 0.26712;
       intake->zeroing.measured_absolute_position = 0.008913;
 
+      column->indexer_zeroing.lower_hall_position = 2.0;
+      column->indexer_zeroing.upper_hall_position = 2.1;
+
+      column->turret_zeroing.lower_hall_position = 0;
+      column->turret_zeroing.upper_hall_position = 0.1;
+
       hood->zeroing.measured_index_position = 0.652898 - 0.488117;
 
       r->down_error = 0;
@@ -102,6 +118,12 @@
       intake->pot_offset = 0.2921 + 0.00039 + 0.012236 - 0.023602;
       intake->zeroing.measured_absolute_position = 0.031437;
 
+      column->indexer_zeroing.lower_hall_position = 2.0;
+      column->indexer_zeroing.upper_hall_position = 2.1;
+
+      column->turret_zeroing.lower_hall_position = 0;
+      column->turret_zeroing.upper_hall_position = 0.1;
+
       hood->zeroing.measured_index_position = 0.655432 - 0.460505;
 
       r->down_error = 0;