commit 95b677b2ba7d43de79c81d37bde57b3b974b12c9
author Austin Schuh <austin.linux@gmail.com> Sat Mar 25 15:30:37 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 25 16:10:03 2023 -0700
tree e6057c50376f21f98161d997410a1986dd6958ad
parent 509a727aeed6fa2bf2b78cae21522140633090b4

Recalibrate with the practice robot arm now attached.

Change-Id: I445d082fffc671d1118b3f90e80d1c90879f973c
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index ae557e7..c8b75d1 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -111,23 +111,24 @@
       break;
 
     case kPracticeTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.261970010788946;
+      arm_proximal->zeroing.measured_absolute_position = 0.24572544970387;
       arm_proximal->potentiometer_offset =
-          10.5178592988554 + 0.0944609125285876 - 0.00826532984625095;
+          10.5178592988554 + 0.0944609125285876 - 0.00826532984625095 +
+          0.167359305216504;
 
-      arm_distal->zeroing.measured_absolute_position = 0.507166003869875;
+      arm_distal->zeroing.measured_absolute_position = 0.0915283983599425;
       arm_distal->potentiometer_offset =
           7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
-          0.0143810684138064 + 0.00945555248207735;
+          0.0143810684138064 + 0.00945555248207735 + 0.452446388633863;
 
-      roll_joint->zeroing.measured_absolute_position = 1.85482286175059;
+      roll_joint->zeroing.measured_absolute_position = 0.0722321007692069;
       roll_joint->potentiometer_offset =
           0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
           0.0257708772364788 - 0.0395076737853459 - 6.87914956118006 -
-          0.097581301615046;
+          0.097581301615046 + 3.3424421683095 - 3.97605190912604;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          6.04062267812154;
+          1.04410369068834;
 
       break;