Converted hood to only need an index pulse.
We now have a more complicated seek mechanism which runs the hood to
each hard stop, or until we find both index pulses.
Change-Id: I9932cc158beec0bc55dc0e908accb0aea6a73506
diff --git a/y2017/constants.cc b/y2017/constants.cc
index c716ecf..2ac4875 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -71,45 +71,59 @@
intake->zeroing.average_filter_size = Values::kZeroingSampleSize;
intake->zeroing.one_revolution_distance = Values::kIntakeEncoderIndexDifference;
- intake->zeroing.measured_absolute_position = 0;
intake->zeroing.zeroing_threshold = 0.001;
intake->zeroing.moving_buffer_size = 9;
intake->zeroing.allowable_encoder_error = 0.3;
turret->zeroing.average_filter_size = Values::kZeroingSampleSize;
- turret->zeroing.one_revolution_distance = Values::kTurretEncoderIndexDifference;
- turret->zeroing.measured_absolute_position = 0;
+ turret->zeroing.one_revolution_distance =
+ Values::kTurretEncoderIndexDifference;
turret->zeroing.zeroing_threshold = 0.001;
turret->zeroing.moving_buffer_size = 9;
turret->zeroing.allowable_encoder_error = 0.3;
- hood->zeroing.average_filter_size = Values::kZeroingSampleSize;
+ hood->zeroing.index_pulse_count = 2;
hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;
- hood->zeroing.measured_index_position = 0.1;
- hood->zeroing.allowable_encoder_error = 0.3;
+ hood->zeroing.known_index_pulse = 0;
switch (team) {
// A set of constants for tests.
case 1:
intake->pot_offset = 0;
+ intake->zeroing.measured_absolute_position = 0;
+
turret->pot_offset = 0;
+ turret->zeroing.measured_absolute_position = 0;
+
hood->pot_offset = 0.1;
+ hood->zeroing.measured_index_position = 0.05;
+
r->down_error = 0;
r->vision_name = "test";
break;
case kCompTeamNumber:
intake->pot_offset = 0;
+ intake->zeroing.measured_absolute_position = 0;
+
turret->pot_offset = 0;
- hood->pot_offset = 0.1;
+ turret->zeroing.measured_absolute_position = 0;
+
+ hood->zeroing.measured_index_position = 0.05;
+
r->down_error = 0;
r->vision_name = "competition";
break;
case kPracticeTeamNumber:
intake->pot_offset = 0;
+ intake->zeroing.measured_absolute_position = 0;
+
turret->pot_offset = 0;
- hood->pot_offset = 0.1;
+ turret->zeroing.measured_absolute_position = 0;
+
+ hood->zeroing.measured_index_position = 0.05;
+
r->down_error = 0;
r->vision_name = "practice";
break;