Calibrated competition robot after sensor tightening.
Change-Id: I890b1f1fe117049a6b3b9fbf21c9e0a4fcc2c78b
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 7af314b..4f1a01e 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -82,26 +82,28 @@
// Intake
{
// Value to add to the pot reading for the intake.
- -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098,
+ -4.550531 + 150.40906362 * M_PI / 180.0 + 0.5098 - 0.0178 - 0.0725,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
// Location of an index pulse.
- 0.040211, 1.5},
+ 0.018008, 1.5},
},
// Shoulder
{
// Value to add to the pot reading for the shoulder.
- -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 + 0.0035,
+ -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0 - 0.0323 - 0.1057 +
+ 0.0035 + 0.0055,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.335702, 1.5},
+ 0.536989, 1.5},
},
// Wrist
{
// Value to add to the pot reading for the wrist.
- 3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078,
+ 3.2390714288298668 + -0.06138835 * M_PI / 180.0 + 0.0078 - 0.0548 -
+ 0.0167 + 0.002,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -0.736662, 1.5},
+ -1.040454, 1.5},
},
"competition",