commit a3240bd26e60cfec0796e940e2837ed3d96fde3c
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 15:31:01 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:03:49 2016 -0700
tree 829c37d5d6bb29b319d2e1ad9c9579547286bfc0
parent 64f3a4332e398bb77256acb135c0b765a521fe98

Re-calibrated superstructure after slipping wrist and replacing chain.

Change-Id: Ic316c1c89a532a0c4952ca74697fd1a29bb84345

y2016/constants.cc

diff --git a/y2016/constants.cc b/y2016/constants.cc
index 9a7f143..97d253a 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -110,10 +110,10 @@
           // Intake
           {
            // Hard stop is 164.2067247 degrees.
-           -4.654 + 0.5405079649920759 - 0.1755 + 161.25942780 * M_PI / 180.0 +
-               0.007 + 0.062681,
+           -4.2193 + (164.2067247 * M_PI / 180.0 + 0.02 - 0.0235) + 0.0549 -
+               0.104,
            {Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
-            0.826033, 0.3},
+            0.363074, 0.3},
           },
 
           // Shoulder (Now calibrated at 0)
@@ -125,9 +125,10 @@
 
           // Wrist
           {
-           3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323,
+           3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
+               0.023,
            {Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
-            -0.141904, 0.3},
+            -0.622423, 0.3},
           },
       };
       break;

y2016/constants.h

diff --git a/y2016/constants.h b/y2016/constants.h
index 776abfe..cf75ae4 100644
--- a/y2016/constants.h
+++ b/y2016/constants.h
@@ -61,7 +61,7 @@
       // Lower soft stop
       -0.300,
       // Uppper soft stop
-      1.8};
+      164.2067247 * M_PI / 180.0};
   static constexpr ::frc971::constants::Range kShoulderRange{// Lower hard stop
                                                              -0.050,
                                                              // Upper hard stop
@@ -71,13 +71,13 @@
                                                              // Uppper soft stop
                                                              2.0};
   static constexpr ::frc971::constants::Range kWristRange{// Lower hard stop
-                                                          -2.8,
+                                                          -2.9,
                                                           // Upper hard stop
-                                                          2.8,
+                                                          2.9,
                                                           // Lower soft stop
-                                                          -2.4,
+                                                          -2.6,
                                                           // Uppper soft stop
-                                                          2.4};
+                                                          2.6};
 
   // ///// Dynamic constants. /////
   double drivetrain_max_speed;