Tune the wrist for y2023 comp
Works better when the sensor is plugged in too...
Change-Id: I14b97ed0137a5b112ce82178254f0a224433822a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.cc b/y2023/constants.cc
index dbe8025..71e8682 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -50,7 +50,7 @@
wrist->subsystem_params.zeroing_voltage = 3.0;
wrist->subsystem_params.operating_voltage = 12.0;
wrist->subsystem_params.zeroing_profile_params = {0.5, 3.0};
- wrist->subsystem_params.default_profile_params = {6.0, 30.0};
+ wrist->subsystem_params.default_profile_params = {0.5, 5.0};
wrist->subsystem_params.range = Values::kWristRange();
wrist->subsystem_params.make_integral_loop =
control_loops::superstructure::wrist::MakeIntegralWristLoop;
@@ -101,7 +101,7 @@
0.5935210745062;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.0;
+ 0.183283543884167;
break;