Zeroed robot.
Change-Id: I3c01fefb55ef63849208c558a8d7a1be8af76666
diff --git a/frc971/constants.cc b/frc971/constants.cc
index b64f52b..8d4afed 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -241,36 +241,36 @@
// Claw values, in radians.
// 0 is level with the ground.
// Positive moves in the direction of positive encoder values.
- {0.0000000000, 1.5700000000,
- 0.1000000000, 1.2000000000},
+ {-0.05, M_PI / 2.0 + 0.1,
+ 0.0, M_PI / 2.0},
// Zeroing constants for wrist.
// TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kClawEncoderIndexDifference, 0.0},
- 0.0,
+ {kZeroingSampleSize, kClawEncoderIndexDifference, 0.977913},
+ 6.1663463999999992,
},
{
// Elevator values, in meters.
// 0 is at the top of the elevator frame.
// Positive is down towards the drivebase.
- {0.0000000000, 0.6790000000,
- 0.2000000000, 0.6000000000},
+ {-0.00500, 0.679000,
+ 0.010000, 0.650000},
// Arm values, in radians.
// 0 is sticking straight out horizontally over the intake/front.
// Positive is rotating up and into the robot (towards the back).
- {-1.570000000, 1.5700000000,
- -1.200000000, 1.2000000000},
+ {-M_PI/2 - 0.05, M_PI/2 + 0.05,
+ -M_PI/2, M_PI/2},
// Elevator zeroing constants: left, right.
// TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.0},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.016041},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.011367},
// Arm zeroing constants: left, right.
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- {kZeroingSampleSize, kArmEncoderIndexDifference, 0.0},
- 0.0, 0.0, 0.0, 0.0,
+ {kZeroingSampleSize, kArmEncoderIndexDifference, -0.312677},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, -0.396278},
+ 0.72069366666666679, -0.078959636363636357, -3.4952331578947375, 3.5263507647058816,
},
// TODO(sensors): End "sensor" values.