commit 889fee844fb5dd09f07510229e844b13b4344661
author Austin Schuh <austin.linux@gmail.com> Wed Apr 13 22:16:36 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 13 22:21:46 2016 -0700
tree d232b2c81e076d7864b834e779274f6139db1321
parent b0099646e19c1785a772360b6989cb0b7b1bda8b

Made down offset a constant.

Change-Id: Ic0e3aa3867dbdce4037cbac23dc26999487c1489

y2016/constants.cc

diff --git a/y2016/constants.cc b/y2016/constants.cc
index 8b76c3b..a4f5964 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -71,6 +71,7 @@
             0.0, 0.3},
           },
 
+          0.0,
           "practice",
       };
       break;
@@ -106,6 +107,7 @@
             -1.040454, 1.5},
           },
 
+          0.0,
           "competition",
       };
       break;
@@ -137,6 +139,7 @@
             -0.005145, 1.3},
           },
 
+          0.011,
           "practice",
       };
       break;

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 7416a3f..c87559d 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -99,6 +99,7 @@
   };
   Wrist wrist;
 
+  const double down_error;
   const char *vision_name;
 };
 

y2016/control_loops/drivetrain/drivetrain_base.cc

diff --git a/y2016/control_loops/drivetrain/drivetrain_base.cc b/y2016/control_loops/drivetrain/drivetrain_base.cc
index 2e64090..9aeb4c8 100644
--- a/y2016/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2016/control_loops/drivetrain/drivetrain_base.cc
@@ -36,7 +36,8 @@
       drivetrain::kLowGearRatio,
       kThreeStateDriveShifter,
       kThreeStateDriveShifter,
-      true};
+      true,
+      constants::GetValues().down_error};
 
   return kDrivetrainConfig;
 };

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index dcc528f..8575fdf 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -66,7 +66,6 @@
 const ButtonLocation kChevalDeFrise(3, 8);
 
 const ButtonLocation kVisionAlign(3, 4);
-constexpr double kDownOffset = 0.011;
 
 class Reader : public ::aos::input::JoystickInput {
  public:
@@ -215,7 +214,7 @@
       shoulder_goal_ = M_PI / 2.0 + 0.1;
       wrist_goal_ = M_PI + 0.43;
       if (drivetrain_queue.status.get()) {
-        wrist_goal_ += drivetrain_queue.status->ground_angle + kDownOffset;
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
@@ -224,7 +223,7 @@
       shoulder_goal_ = M_PI / 2.0 + 0.1;
       wrist_goal_ = M_PI + 0.41;
       if (drivetrain_queue.status.get()) {
-        wrist_goal_ += drivetrain_queue.status->ground_angle + kDownOffset;
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
@@ -233,7 +232,7 @@
       shoulder_goal_ = M_PI / 2.0 - 0.4;
       wrist_goal_ = -0.62;
       if (drivetrain_queue.status.get()) {
-        wrist_goal_ += drivetrain_queue.status->ground_angle + kDownOffset;
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
       shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;