Calibrated superstructure sensors.
Change-Id: I423537e51e13b5836d31cfe6f859c9d98afe2d91
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 0785646..a5d87ca 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -79,23 +79,27 @@
// Intake
{
- 0.0,
+ // Value to add to the pot reading for the intake.
+ -4.550531 + 150.40906362 * M_PI / 180.0,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
- 0.9, 0.3},
+ // Location of an index pulse.
+ -0.087413 + 150.40906362 * M_PI / 180.0, 0.3},
},
// Shoulder
{
- 0.0,
+ // Value to add to the pot reading for the shoulder.
+ -1.0 - 0.0822 + 0.06138835 * M_PI / 180.0,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.9, 0.3},
+ 0.06138835 * M_PI / 180.0 + 0.353794, 0.3},
},
// Wrist
{
- 0.0,
+ // Value to add to the pot reading for the wrist.
+ 3.2390714288298668 + -0.06138835 * M_PI / 180.0,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- 0.9, 0.3},
+ -0.06138835 * M_PI / 180.0 - 0.260542, 0.3},
},
};
break;