commit 8fea6ea05271458b1e3f9890a4fbef8327b5e6fd
author Diana Vandenberg <dkvandenberg2@gmail.com> Sat Feb 18 17:24:45 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Feb 19 13:14:29 2017 -0800
tree 29001f2a4e3cf51c1fd1cb778d49158f7d4aa75b
parent fd7b3504b2806ed426385b8fdefcdfc08829ca2e

No zeroing while moving for absolute encoders

Modified zeroing code for pot and absolute encoder to no longer
update estimates of offsets while moving. This causes a delay of
3 samples (due to a sample buffer size).

Change-Id: Iaf82ad83ebcfc68fa75ce23716c7d89a6e34a917

y2017/constants.cc

diff --git a/y2017/constants.cc b/y2017/constants.cc
index dee04dd..35fe207 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -72,12 +72,14 @@
   intake->zeroing.average_filter_size = Values::kZeroingSampleSize;
   intake->zeroing.one_revolution_distance = Values::kIntakeEncoderIndexDifference;
   intake->zeroing.measured_absolute_position = 0;
-  intake->zeroing.zeroing_threshold = 0.3;
+  intake->zeroing.zeroing_threshold = 0.001;
+  intake->zeroing.moving_buffer_size = 9;
 
   turret->zeroing.average_filter_size = Values::kZeroingSampleSize;
   turret->zeroing.one_revolution_distance = Values::kTurretEncoderIndexDifference;
   turret->zeroing.measured_absolute_position = 0;
-  turret->zeroing.zeroing_threshold = 0.3;
+  turret->zeroing.zeroing_threshold = 0.001;
+  turret->zeroing.moving_buffer_size = 9;
 
   hood->zeroing.average_filter_size = Values::kZeroingSampleSize;
   hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;