Autonomous and setpoint tuning from champs for Red
Change-Id: Ifcf28474e999b4ff500faec91acd8d8a9397ae5f
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/autonomous/splines/spline.1.json b/y2023/autonomous/splines/spline.1.json
index a98ac6e..5240ad8 100644
--- a/y2023/autonomous/splines/spline.1.json
+++ b/y2023/autonomous/splines/spline.1.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.609310857796625, 2.5819120488556946, 3.506443404506549, 5.556354709601551, 5.990235974918718, 6.419541332061575], "spline_y": [0.6043502546533336, 0.69141924611354, 1.0213742193777775, 0.22424951902207307, 0.24557526406496255, 0.24557526406496255], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.609310857796625, 2.5819120488556946, 3.506443404506549, 5.555694235956169, 5.989575501273337, 6.418880858416194], "spline_y": [0.6043502546533336, 0.69141924611354, 1.0213742193777775, 0.38712949808092717, 0.40845524312381665, 0.40845524312381665], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.2.json b/y2023/autonomous/splines/spline.2.json
index 641b973..297966c 100644
--- a/y2023/autonomous/splines/spline.2.json
+++ b/y2023/autonomous/splines/spline.2.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [6.419541332061575, 6.028411344095072, 5.2762663069267655, 2.8053451665928835, 2.37026593061867, 1.5260719060059573], "spline_y": [0.24557526406496255, 0.24557526406496255, 0.3018576793840364, 1.3287637699876067, -0.026954142728124464, -0.5547144640218522], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [6.418880858416194, 6.02775087044969, 5.275605833281384, 2.8053451665928835, 2.37026593061867, 1.5260719060059573], "spline_y": [0.40845524312381665, 0.40845524312381665, 0.4647376584428905, 1.3287637699876067, -0.026954142728124464, -0.5547144640218522], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.5}, {"constraint_type": "VOLTAGE", "value": 12.0}]}
\ No newline at end of file
diff --git a/y2023/autonomous/splines/spline.3.json b/y2023/autonomous/splines/spline.3.json
index f5651e7..6ac5412 100644
--- a/y2023/autonomous/splines/spline.3.json
+++ b/y2023/autonomous/splines/spline.3.json
@@ -1 +1 @@
-{"spline_count": 1, "spline_x": [1.5260719060059573, 3.487962685989344, 3.140736946266447, 5.361661826393136, 4.912898328525625, 6.376744631564399], "spline_y": [-0.5547144640218522, 0.6717904367469538, 0.6138773092943139, 0.6864204635819386, 0.27660573272799804, 0.2788534917250134], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.6}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.65, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file
+{"spline_count": 1, "spline_x": [1.5260719060059573, 3.487962685989344, 3.140736946266447, 5.366541573420288, 4.917778075552777, 6.381624378591551], "spline_y": [-0.5547144640218522, 0.6717904367469538, 0.6138773092943139, 0.7392105412041843, 0.3293958103502437, 0.331643569347259], "constraints": [{"constraint_type": "LONGITUDINAL_ACCELERATION", "value": 3.5}, {"constraint_type": "LATERAL_ACCELERATION", "value": 2.6}, {"constraint_type": "VOLTAGE", "value": 12.0}, {"constraint_type": "VELOCITY", "value": 1.65, "start_distance": 4.1, "end_distance": 10.0}]}
\ No newline at end of file
diff --git a/y2023/constants.cc b/y2023/constants.cc
index a6c0396..4ef5670 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -101,7 +101,7 @@
arm_distal->zeroing.one_revolution_distance =
M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
- roll_joint->zeroing.measured_absolute_position = 0.419144048980465;
+ roll_joint->zeroing.measured_absolute_position = 0.424187348328397;
roll_joint->potentiometer_offset =
-(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
@@ -109,10 +109,11 @@
0.5935210745062 + 0.166256655718334 - 0.12591438680483 +
0.11972765117321 - 0.318724743041507) +
0.0201047336425017 - 1.0173426655158 - 0.186085272847293 -
- 0.0317706563397807 - 2.6357823523782 + 0.871932806570122;
+ 0.0317706563397807 - 2.6357823523782 + 0.871932806570122 +
+ 1.09682107821155;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.868820879549023;
+ 0.886183343417664;
break;
@@ -131,7 +132,7 @@
arm_distal->zeroing.one_revolution_distance =
M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
- //3.11964893168338 / 3.148;
+ // 3.11964893168338 / 3.148;
(3.12725165289659 + 0.002) / 3.1485739705977704;
roll_joint->zeroing.measured_absolute_position = 1.79390317510529;
diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index 4b8de27..eb92ec8 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -333,7 +333,7 @@
))
points['HPPickupBackConeUp'] = to_theta_with_circular_index_and_roll(
- -1.1200539, 1.325, np.pi / 2.0, circular_index=0)
+ -1.1200539, 1.335, np.pi / 2.0, circular_index=0)
named_segments.append(
ThetaSplineSegment(