commit 7dcc49ba500764fd070e32078fc67b2a3e0979da
author Austin Schuh <austin.linux@gmail.com> Tue Feb 21 17:35:10 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 22 21:14:53 2023 -0800
tree d9b3de4f889e42ed88592e56f76ed686cee37a2c
parent 7367e926c1015940f80d34072851bc9868007965

Calibrate the comp robot's arm

Change-Id: I02a782442984114290285ed4d9299c6c1d4ce834
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 9497c7f..e2e8522 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -79,14 +79,19 @@
       break;
 
     case kCompTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.0;
-      arm_proximal->potentiometer_offset = 0.0;
+      arm_proximal->zeroing.measured_absolute_position = 0.908708932890508;
+      arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382;
 
-      arm_distal->zeroing.measured_absolute_position = 0.0;
-      arm_distal->potentiometer_offset = 0.0;
+      arm_distal->zeroing.measured_absolute_position = 0.560320674747198;
+      arm_distal->potentiometer_offset = 0.436664933370656 + 0.49457213779426 +
+                                         6.78213223139724 - 0.0220711555235029 -
+                                         0.0162945074111813;
 
-      roll_joint->zeroing.measured_absolute_position = 0.0;
-      roll_joint->potentiometer_offset = 0.0;
+      roll_joint->zeroing.measured_absolute_position = 0.779367181558787;
+      roll_joint->potentiometer_offset =
+          3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
+          0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
+          0.0208958996127179;
 
       wrist->zeroing_constants.measured_absolute_position = 0.0;
 

y2023/constants.h

diff --git a/y2023/constants.h b/y2023/constants.h
index 66811a3..598a7d3 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -64,7 +64,7 @@
            kProximalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kProximalPotRatio() {
-    return (24.0 / 36.0) * (24.0 / 58.0) * (15.0 / 95.0);
+    return (36.0 / 24.0) * (15.0 / 95.0);
   }
 
   static constexpr double kProximalPotRadiansPerVolt() {
@@ -80,7 +80,7 @@
            kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kDistalPotRatio() {
-    return (24.0 / 36.0) * (18.0 / 66.0) * (15.0 / 95.0);
+    return (36.0 / 24.0) * (15.0 / 95.0);
   }
 
   static constexpr double kDistalPotRadiansPerVolt() {

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index acda870..3ccb036 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -164,17 +164,17 @@
       CopyPosition(proximal_encoder_, &proximal,
                    Values::kProximalEncoderCountsPerRevolution(),
                    Values::kProximalEncoderRatio(), proximal_pot_translate,
-                   false, values_->arm_proximal.potentiometer_offset);
+                   true, values_->arm_proximal.potentiometer_offset);
       frc971::PotAndAbsolutePositionT distal;
       CopyPosition(distal_encoder_, &distal,
                    Values::kDistalEncoderCountsPerRevolution(),
-                   Values::kDistalEncoderRatio(), distal_pot_translate, false,
+                   Values::kDistalEncoderRatio(), distal_pot_translate, true,
                    values_->arm_distal.potentiometer_offset);
       frc971::PotAndAbsolutePositionT roll_joint;
       CopyPosition(roll_joint_encoder_, &roll_joint,
                    Values::kRollJointEncoderCountsPerRevolution(),
                    Values::kRollJointEncoderRatio(), roll_joint_pot_translate,
-                   false, values_->roll_joint.potentiometer_offset);
+                   true, values_->roll_joint.potentiometer_offset);
       frc971::AbsolutePositionT wrist;
       CopyPosition(wrist_encoder_, &wrist,
                    Values::kWristEncoderCountsPerRevolution(),