Re-calibrated superstructure after slipping wrist and replacing chain.
Change-Id: Ic316c1c89a532a0c4952ca74697fd1a29bb84345
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;
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;