Add error detection to the absolute encoder zeroing
Change-Id: I36ca16ce174c0bd459f2d649fdae607b5813f2c5
diff --git a/y2017/constants.cc b/y2017/constants.cc
index 35fe207..c716ecf 100644
--- a/y2017/constants.cc
+++ b/y2017/constants.cc
@@ -74,12 +74,14 @@
intake->zeroing.measured_absolute_position = 0;
intake->zeroing.zeroing_threshold = 0.001;
intake->zeroing.moving_buffer_size = 9;
+ intake->zeroing.allowable_encoder_error = 0.3;
turret->zeroing.average_filter_size = Values::kZeroingSampleSize;
turret->zeroing.one_revolution_distance = Values::kTurretEncoderIndexDifference;
turret->zeroing.measured_absolute_position = 0;
turret->zeroing.zeroing_threshold = 0.001;
turret->zeroing.moving_buffer_size = 9;
+ turret->zeroing.allowable_encoder_error = 0.3;
hood->zeroing.average_filter_size = Values::kZeroingSampleSize;
hood->zeroing.index_difference = Values::kHoodEncoderIndexDifference;