commit 6246c542727ae1ad77b18481fbbbbeea5dbda866
author Austin Schuh <austin@peloton-tech.com> Mon Feb 16 02:59:09 2015 -0800
committer Austin Schuh <austin@peloton-tech.com> Mon Feb 16 15:51:49 2015 -0800
tree 9871d8d2310a427753c7bfacb45beca51213910c
parent e77e981000accd65aa398e3737b90c2d4453d40c

Zeroed robot.

Change-Id: I3c01fefb55ef63849208c558a8d7a1be8af76666

frc971/wpilib/wpilib_interface.cc

diff --git a/frc971/wpilib/wpilib_interface.cc b/frc971/wpilib/wpilib_interface.cc
index 0cebf53..12b34ae 100644
--- a/frc971/wpilib/wpilib_interface.cc
+++ b/frc971/wpilib/wpilib_interface.cc
@@ -62,7 +62,7 @@
 }
 
 double arm_translate(int32_t in) {
-  return static_cast<double>(in) /
+  return -static_cast<double>(in) /
           (512.0 /*cpr*/ * 4.0 /*4x*/) *
           constants::GetValues().arm_encoder_ratio *
           (2 * M_PI /*radians*/);
@@ -84,7 +84,7 @@
 }
 
 double elevator_potentiometer_translate(double voltage) {
-  return voltage *
+  return -voltage *
           constants::GetValues().elev_pot_ratio *
           (2 * M_PI /*radians*/) *
           constants::GetValues().elev_distance_per_radian *
@@ -99,7 +99,7 @@
 }
 
 double claw_potentiometer_translate(double voltage) {
-  return voltage *
+  return -voltage *
           constants::GetValues().claw_pot_ratio *
           (5.0 /*turns*/ / 5.0 /*volts*/) *
           (2 * M_PI /*radians*/);
@@ -267,19 +267,19 @@
       auto fridge_message = fridge_queue.position.MakeMessage();
       CopyPotAndIndexPosition(arm_left_encoder_, &fridge_message->arm.left,
                               arm_translate, arm_potentiometer_translate, false,
-                              values.fridge.left_elevator_potentiometer_offset);
+                              values.fridge.left_arm_potentiometer_offset);
       CopyPotAndIndexPosition(
           arm_right_encoder_, &fridge_message->arm.right, arm_translate,
           arm_potentiometer_translate, true,
-          values.fridge.right_elevator_potentiometer_offset);
+          values.fridge.right_arm_potentiometer_offset);
       CopyPotAndIndexPosition(
           elevator_left_encoder_, &fridge_message->elevator.left,
           elevator_translate, elevator_potentiometer_translate, false,
-          values.fridge.left_arm_potentiometer_offset);
+          values.fridge.left_elevator_potentiometer_offset);
       CopyPotAndIndexPosition(
           elevator_right_encoder_, &fridge_message->elevator.right,
           elevator_translate, elevator_potentiometer_translate, true,
-          values.fridge.right_arm_potentiometer_offset);
+          values.fridge.right_elevator_potentiometer_offset);
       fridge_message.Send();
     }