commit 9efd680bb12ee8fb1afc17a2a7e9ee4d09d19ddc
author Maxwell Henderson <maxwell.henderson@mailbox.org> Mon Sep 25 08:13:20 2023 -0700
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Mon Sep 25 08:13:20 2023 -0700
tree 423fd59564f08e43a57faaeff08c0d73520602c7
parent 333b603747f3f148c4aa19b08043ac3c3f1a7980

Fix HP and Ground pickup

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: Iabafc4e8ef614d2c6a0247006980aec42f25ccc1

y2023/control_loops/python/graph_paths.py

diff --git a/y2023/control_loops/python/graph_paths.py b/y2023/control_loops/python/graph_paths.py
index ee40bf8..e5d7c20 100644
--- a/y2023/control_loops/python/graph_paths.py
+++ b/y2023/control_loops/python/graph_paths.py
@@ -22,7 +22,7 @@
 points['Neutral'] = np.array((np.pi, 0.0, 0.0))
 
 points['GroundPickupBackConeUp'] = to_theta_with_circular_index_and_roll(
-    -1.07774334, 0.40, np.pi / 2.0, circular_index=1)
+    -1.07774334, 0.39, np.pi / 2.0, circular_index=1)
 
 named_segments.append(
     ThetaSplineSegment(
@@ -346,7 +346,7 @@
     ))
 
 points['HPPickupFrontConeUp'] = np.array(
-    (5.16514378449353, 1.25, -np.pi / 2.0))
+    (5.16514378449353, 1.2461538461538462, -np.pi / 2.0))
 #        to_theta_with_circular_index_and_roll(
 #    0.265749, 1.28332, -np.pi / 2.0, circular_index=1)
 
@@ -538,7 +538,7 @@
     ))
 
 points['GroundPickupFrontConeUp'] = to_theta_with_circular_index_and_roll(
-    0.313099, 0.380, -np.pi / 2.0, circular_index=0)
+    0.313099, 0.39, -np.pi / 2.0, circular_index=0)
 
 named_segments.append(
     ThetaSplineSegment(