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/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(),