commit 79900c24f61f6126713e5f5f637ed003a271b351
author Adam Snaider <adsnaider@gmail.com> Wed Feb 08 20:23:15 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 17 22:10:10 2017 -0800
tree c63a5c2fcbc331b759476b97d7fb1521d7291def
parent 5f01f15ed8d252276aac022a3642ca1bdf50acff

Added turret and intake code and tests.

Tests are from Adam.

Change-Id: I5a89700cfe2e9983771b4523facc302243b5dc50

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index 295a800..dee04dd 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -70,14 +70,14 @@
   r->drivetrain_max_speed = 5;
 
   intake->zeroing.average_filter_size = Values::kZeroingSampleSize;
-  intake->zeroing.index_difference = Values::kIntakeEncoderIndexDifference;
-  intake->zeroing.measured_index_position = 0;
-  intake->zeroing.allowable_encoder_error = 0.3;
+  intake->zeroing.one_revolution_distance = Values::kIntakeEncoderIndexDifference;
+  intake->zeroing.measured_absolute_position = 0;
+  intake->zeroing.zeroing_threshold = 0.3;
 
   turret->zeroing.average_filter_size = Values::kZeroingSampleSize;
-  turret->zeroing.index_difference = Values::kTurretEncoderIndexDifference;
-  turret->zeroing.measured_index_position = 0;
-  turret->zeroing.allowable_encoder_error = 0.3;
+  turret->zeroing.one_revolution_distance = Values::kTurretEncoderIndexDifference;
+  turret->zeroing.measured_absolute_position = 0;
+  turret->zeroing.zeroing_threshold = 0.3;
 
   hood->zeroing.average_filter_size = Values::kZeroingSampleSize;
   hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;