Tuned competition robot.
Change-Id: Ie7d9fc4ed9bf0fb146512cb6f2b71a238ddd85b2
diff --git a/y2016/constants.cc b/y2016/constants.cc
index cb0f3fc..7af314b 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -82,26 +82,26 @@
// Intake
{
// Value to add to the pot reading for the intake.
- -4.550531 + 150.40906362 * M_PI / 180.0,
+ -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
// Location of an index pulse.
- -0.087413 + 150.40906362 * M_PI / 180.0, 0.3},
+ 0.040211, 1.5},
},
// Shoulder
{
// Value to add to the pot reading for the shoulder.
- -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0,
+ -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 + 0.0035,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.06138835 * M_PI / 180.0 + 0.353794, 0.3},
+ 0.335702, 1.5},
},
// Wrist
{
// Value to add to the pot reading for the wrist.
- 3.2390714288298668 + -0.06138835 * M_PI / 180.0,
+ 3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -0.06138835 * M_PI / 180.0 - 0.260542, 0.3},
+ -0.736662, 1.5},
},
"competition",