commit 9356ccb290337aacea3de1c2092564e077b2bdc8
author Austin Schuh <austin.linux@gmail.com> Wed Apr 04 20:12:31 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Apr 04 20:12:31 2018 -0700
tree 8b06c9e922c467bb75fae5428cb6f5a7440ec3cd
parent 41c71e40ebff1ddf946afb289abd990a9b42eb8e

Calibrate comp robot.

Change-Id: I69b128da8ae2e3ca4c4b3f177178feeab16d5e9a

y2018/constants.cc

diff --git a/y2018/constants.cc b/y2018/constants.cc
index 907b97f..cef8979 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -89,20 +89,21 @@
       r->vision_error = 0.0;
 
       left_intake->zeroing.measured_absolute_position = 0.213653;
-      left_intake->potentiometer_offset = -5.45258;
-      left_intake->spring_offset = -0.25;
+      left_intake->potentiometer_offset = -5.45258 + 1.299206;
+      left_intake->spring_offset = -0.25 - 0.009 + 0.029;
 
-      right_intake->zeroing.measured_absolute_position = 0.056773;
-      right_intake->potentiometer_offset = 3.739919;
-      right_intake->spring_offset = 0.25 - 0.014;
+      right_intake->zeroing.measured_absolute_position = 0.37022 - 0.04;
+      right_intake->potentiometer_offset = 3.739919 + 1.087098 + 0.825;
+      right_intake->spring_offset = 0.25 + 0.015;
 
       arm_proximal->zeroing.measured_absolute_position =
-          0.067941 + 1.047 - 0.116 + 0.06 - 0.004;
-      arm_proximal->potentiometer_offset = 1.047 - 3.653298 + -0.078 + 0.9455;
+          0.067941 + 1.047 - 0.116 + 0.06 - 0.004 + 0.009;
+      arm_proximal->potentiometer_offset =
+          1.047 - 3.653298 + -0.078 + 0.9455 + 0.265;
 
       arm_distal->zeroing.measured_absolute_position =
-          -0.870445 + 5.209807817203074 + 0.118 - 0.004;
-      arm_distal->potentiometer_offset = 5.209807817203074 + 1.250476;
+          -0.870445 + 5.209807817203074 + 0.118 - 0.004 + 0.407;
+      arm_distal->potentiometer_offset = 5.209807817203074 + 1.250476 + 0.110;
       break;
 
     case kPracticeTeamNumber:
@@ -115,7 +116,7 @@
 
       right_intake->zeroing.measured_absolute_position = 0.351376;
       right_intake->potentiometer_offset = 9.59 + 1.530320 - 3.620648;
-      right_intake->spring_offset = 0.255 + 0.008;
+      right_intake->spring_offset = 0.255 + 0.008 - 0.09;
 
       arm_proximal->zeroing.measured_absolute_position = 0.1877 + 0.02 + 0.1;
       arm_proximal->potentiometer_offset = -1.242 - 0.03 - 0.1;