commit 614fc8f5e1900da3375ed8d6bff2fe2b1e4dc595
author Austin Schuh <austin.linux@gmail.com> Sat Apr 16 10:23:45 2022 -0700
committer Gerrit Code Review <gerrit@software.frc971.org> Sat Apr 16 10:23:45 2022 -0700
tree 5aba349541caa896e67d1232ca3b9f234182abd9
parent b70ce206b33b6eb146c85a324d07aac7aafeee8d
parent 463abe2fd3c887a651be4b82d9578c0452b45a47

Merge "Recal intake again and update new pi's"

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 7f9cd25..9d27780 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -217,15 +217,15 @@
                                       0.0172237531191 - 0.0172237531191;
 
       intake_front->potentiometer_offset =
-          2.79628370453323 - 0.0250288114832881 + 0.577152542437606;
+          2.79628370453323 - 0.0250288114832881 + 0.577152542437606 + 0.476513825677792;
       intake_front->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.26963366701647;
+          .measured_absolute_position = 0.205422145836751;
 
-      intake_back->potentiometer_offset = 3.1409576474047 + 0.278653334013286 +
-                                          0.00879137908308503 +
-                                          0.0837134053818833;
+      intake_back->potentiometer_offset =
+          3.1409576474047 + 0.278653334013286 + 0.00879137908308503 +
+          0.0837134053818833 + 0.832945730100298 - 0.00759895654985426 - 2.03114758819475;
       intake_back->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.15924088639178;
+          .measured_absolute_position = 0.352050723370449;
 
       turret->potentiometer_offset =
           -9.99970387166721 + 0.06415943 + 0.073290115367682 -

y2022/control_loops/superstructure/collision_avoidance.h

diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 04b8e8a..1d6f89c 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -61,7 +61,7 @@
   static constexpr double kMaxCollisionZoneBackTurret = kCollisionZoneTurret;
 
   // Maximum position of the intake to avoid collisions
-  static constexpr double kCollisionZoneIntake = 1.33;
+  static constexpr double kCollisionZoneIntake = 1.30;
 
   // Tolerances for the subsystems
   static constexpr double kEpsTurret = 0.05;

y2022/vision/camera_definition.py

diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index 5bf8c15..8d1c614 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -105,7 +105,7 @@
         camera_yaw = 0.0
         T = np.array([-9.5 * 0.0254, -3.5 * 0.0254, 34.5 * 0.0254])
     elif pi_number == "pi3":
-        camera_yaw = 178.5 * np.pi / 180.0
+        camera_yaw = 179.0 * np.pi / 180.0
         T = np.array([-9.5 * 0.0254, 3.5 * 0.0254, 34.5 * 0.0254])
     elif pi_number == "pi4":
         camera_yaw = -90.0 * np.pi / 180.0