commit 6e7d8d42f1052d7caf13356895828e89db42bd2a
author milind-u <milind.upadhyay@gmail.com> Wed Apr 06 18:30:43 2022 -0700
committer milind-u <milind.upadhyay@gmail.com> Wed Apr 06 18:30:43 2022 -0700
tree 394cc060473de246d6eed68ac12ec31da4eb0095
parent b9ba9a5289b54eb0b1b910832e65362346065851

Add climber servo code

Used for traversing to high bar.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I333c581c33aab3f2d960db8452b5b1783aab9a5a

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index e7c0ca3..a6b9a28 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -205,8 +205,9 @@
       break;
 
     case kCompTeamNumber:
-      climber->potentiometer_offset =
-          -0.0463847608752 - 0.0376876182111 + 0.0629263851579;
+      climber->potentiometer_offset = -0.0463847608752 - 0.0376876182111 +
+                                      0.0629263851579 - 0.00682128836400001 +
+                                      0.0172237531191;
 
       intake_front->potentiometer_offset =
           2.79628370453323 - 0.0250288114832881 + 0.577152542437606;
@@ -220,9 +221,10 @@
 
       turret->potentiometer_offset = -9.99970387166721 + 0.06415943 +
                                      0.073290115367682 - 0.0634440443622909 +
-                                     0.213601224728352 + 0.0657973101027296;
+                                     0.213601224728352 + 0.0657973101027296 -
+                                     0.114726411377978;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.27787064956636;
+          0.39190961531060;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.56;