commit 67f5cd12ee05a412018f8f2bd18e0bc1d105a40a
author Austin Schuh <austin.linux@gmail.com> Fri Apr 21 05:38:50 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 26 19:42:22 2023 -0700
tree 0e38966965c9e4ca9c49ef7166dcc34ed886745d
parent 025c313eac5b622f307fcabecd94983178674ef5

Autonomous and setpoint tuning from champs for Red

Change-Id: Ifcf28474e999b4ff500faec91acd8d8a9397ae5f
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

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;