Calibrated robot.
Change-Id: Ib6a0527d301d68ff7dd1ec7ce619d6eeabc1af3a
diff --git a/y2018/constants.cc b/y2018/constants.cc
index 57f4cdc..b1ee83f 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -103,19 +103,19 @@
r->vision_name = "practice";
r->vision_error = 0.0;
- left_intake->zeroing.measured_absolute_position = 0.0;
- left_intake->potentiometer_offset = 0.0;
- left_intake->spring_offset = 0.0;
+ left_intake->zeroing.measured_absolute_position = 0.3332;
+ left_intake->potentiometer_offset = -10.55;
+ left_intake->spring_offset = -0.249;
- right_intake->zeroing.measured_absolute_position = 0.0;
- right_intake->potentiometer_offset = 0.0;
- right_intake->spring_offset = 0.0;
+ right_intake->zeroing.measured_absolute_position = 0.539284;
+ right_intake->potentiometer_offset = 9.59;
+ right_intake->spring_offset = 0.255;
- arm_proximal->zeroing.measured_absolute_position = 0.0;
- arm_proximal->potentiometer_offset = 0.0;
+ arm_proximal->zeroing.measured_absolute_position = 0.1877;
+ arm_proximal->potentiometer_offset = -1.242;
- arm_distal->zeroing.measured_absolute_position = 0.0;
- arm_distal->potentiometer_offset = 0.0;
+ arm_distal->zeroing.measured_absolute_position = 0.28366 + M_PI;
+ arm_distal->potentiometer_offset = 2.772210 + M_PI;
break;
default:
@@ -125,18 +125,15 @@
return r;
}
-const Values *DoGetValues() {
+const Values &DoGetValues() {
uint16_t team = ::aos::network::GetTeamNumber();
LOG(INFO, "creating a Constants for team %" PRIu16 "\n", team);
- return DoGetValuesForTeam(team);
+ return GetValuesForTeam(team);
}
} // namespace
-const Values &GetValues() {
- const Values &r = *DoGetValues();
- return r;
-}
+const Values &GetValues() { return DoGetValues(); }
const Values &GetValuesForTeam(uint16_t team_number) {
static ::aos::Mutex mutex;