commit 69379aca95c25837681d6c743860885db063c8ec
author Austin Schuh <austin.linux@gmail.com> Fri Apr 29 21:27:05 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 11 20:30:16 2022 -0700
tree 213f1df71348e4254de67b49ced3253855fb5c81
parent a152615f2c10985e7e3d282ecd79f0b7162936a1

Recalibrate robot for elims

Things keep slipping...

Change-Id: Ibb3fb5486060f25c94f3312772a87b542d0c4980
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 3fbe27b..37b43a1 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -216,26 +216,32 @@
     case kCompTeamNumber:
       climber->potentiometer_offset = -0.0463847608752 - 0.0376876182111 +
                                       0.0629263851579 - 0.00682128836400001 +
-                                      0.0172237531191 - 0.0172237531191;
+                                      0.0172237531191 - 0.0172237531191 +
+                                      0.00443383743660001 - 0.0117667224279;
 
       intake_front->potentiometer_offset =
-          2.79628370453323 - 0.0250288114832881 + 0.577152542437606 + 0.476513825677792;
+          2.79628370453323 - 0.0250288114832881 + 0.577152542437606 +
+          0.476513825677792 - 0.47869991531664 + 0.50529913945481 -
+          0.796768714398522 + 0.163696825540674 - 0.0963353449092312;
       intake_front->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.205422145836751;
+          .measured_absolute_position = 0.175014091275898;
 
       intake_back->potentiometer_offset =
           3.1409576474047 + 0.278653334013286 + 0.00879137908308503 +
-          0.0837134053818833 + 0.832945730100298 - 0.00759895654985426 - 2.03114758819475;
+          0.0837134053818833 + 0.832945730100298 - 0.00759895654985426 -
+          2.03114758819475 + 0.318379597392509 + 0.675664531140745 +
+          0.0650864893911517;
       intake_back->subsystem_params.zeroing_constants
-          .measured_absolute_position = 0.352050723370449;
+          .measured_absolute_position = 0.0517274215962501;
 
       turret->potentiometer_offset =
           -9.99970387166721 + 0.06415943 + 0.073290115367682 -
           0.0634440443622909 + 0.213601224728352 + 0.0657973101027296 -
           0.114726411377978 - 0.980314029089968 - 0.0266013159299456 +
-          0.0631240002215899 + 0.222882504808653;
+          0.0631240002215899 + 0.222882504808653 + 0.0370686419434252 -
+          0.0965027214840068 - 0.126737479717192;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          1.14081767944401;
+          1.3081068967929;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.56;