Recalibrate 2023 comp arm after tensioning
Change-Id: I837ed1618c7bd17bbe0e55ffdf2f6e6acc1a564f
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.cc b/y2023/constants.cc
index e2e8522..566914d 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -79,19 +79,23 @@
break;
case kCompTeamNumber:
- arm_proximal->zeroing.measured_absolute_position = 0.908708932890508;
- arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382;
+ arm_proximal->zeroing.measured_absolute_position = 0.0910237406998185;
+ arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382 -
+ 0.101200335326309 -
+ 0.0820901660993467;
- arm_distal->zeroing.measured_absolute_position = 0.560320674747198;
- arm_distal->potentiometer_offset = 0.436664933370656 + 0.49457213779426 +
- 6.78213223139724 - 0.0220711555235029 -
- 0.0162945074111813;
+ arm_distal->zeroing.measured_absolute_position = 0.556077643172765;
+ arm_distal->potentiometer_offset =
+ 0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
+ 0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
+ 0.0164398318919943;
- roll_joint->zeroing.measured_absolute_position = 0.779367181558787;
+ roll_joint->zeroing.measured_absolute_position = 1.10682573591996;
roll_joint->potentiometer_offset =
3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
- 0.0208958996127179;
+ 0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
+ 0.5935210745062;
wrist->zeroing_constants.measured_absolute_position = 0.0;