commit a47dab3af459cdb6ce40d285ff10d2f7ebdadf9c
author Austin Schuh <austin.linux@gmail.com> Sun Mar 03 20:45:24 2019 -0800
committer Gerrit Code Review <gerrit@robotics.mvla.net> Sun Mar 03 20:45:24 2019 -0800
tree 0a3e85a10e43ccc2d745a94ba3a673a3f3288898
parent 85ffeb89d48d932b09f6254f4c5a52443dfaf338
parent e6fe6c5925b04632f3b23e639f76b761b602e423

Merge "Tune setpoints"

y2019/constants.cc

diff --git a/y2019/constants.cc b/y2019/constants.cc
index d467876..915c53c 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -170,16 +170,16 @@
       break;
 
     case kPracticeTeamNumber:
-      elevator_params->zeroing_constants.measured_absolute_position = 0.167722;
-      elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355 - 0.006497;
+      elevator_params->zeroing_constants.measured_absolute_position = 0.147809;
+      elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355 - 0.006497 + 0.019690;
 
       intake->zeroing_constants.measured_absolute_position = 1.756847;
 
       wrist_params->zeroing_constants.measured_absolute_position = 0.357394;
       wrist->potentiometer_offset = -1.479097 - 2.740303;
 
-      stilts_params->zeroing_constants.measured_absolute_position = 0.048258;
-      stilts->potentiometer_offset = -0.093820 + 0.0124 - 0.008334;
+      stilts_params->zeroing_constants.measured_absolute_position = 0.043580;
+      stilts->potentiometer_offset = -0.093820 + 0.0124 - 0.008334 + 0.004507;
       break;
 
     case kCodingRobotTeamNumber:

y2019/joystick_reader.cc

diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 9290a2f..bfc13e4 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -66,7 +66,7 @@
 const ElevatorWristPosition kStowPos{0.36, 0.0};
 
 const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.04, M_PI / 2.0};
-const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.04, -M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.05, -M_PI / 2.0};
 
 const ElevatorWristPosition kPanelForwardLowerPos{0.0, M_PI / 2.0};
 const ElevatorWristPosition kPanelBackwardLowerPos{0.0, -M_PI / 2.0};
@@ -77,8 +77,11 @@
 const ElevatorWristPosition kPanelForwardUpperPos{1.51, M_PI / 2.0};
 const ElevatorWristPosition kPanelBackwardUpperPos{1.50, -M_PI / 2.0};
 
-const ElevatorWristPosition kBallForwardLowerPos{0.4598, 1.5863};
-const ElevatorWristPosition kBallBackwardLowerPos{0.175, -1.61};
+const ElevatorWristPosition kPanelCargoForwardPos{0.0, M_PI / 2.0};
+const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
+
+const ElevatorWristPosition kBallForwardLowerPos{0.46, M_PI / 2.0};
+const ElevatorWristPosition kBallBackwardLowerPos{0.15, -M_PI / 2.0};
 
 const ElevatorWristPosition kBallForwardMiddlePos{1.16, 1.546};
 const ElevatorWristPosition kBallBackwardMiddlePos{0.876021, -1.546};
@@ -89,8 +92,8 @@
 const ElevatorWristPosition kBallCargoForwardPos{0.699044, 1.353};
 const ElevatorWristPosition kBallCargoBackwardPos{0.828265, -1.999};
 
-const ElevatorWristPosition kBallHPIntakeForwardPos{0.340, 0.737};
-const ElevatorWristPosition kBallHPIntakeBackwardPos{0.52, -1.1};
+const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
+const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};
 
 const ElevatorWristPosition kBallIntakePos{0.29, 2.14};
 
@@ -224,6 +227,10 @@
         elevator_wrist_pos_ = kPanelForwardUpperPos;
       } else if (data.IsPressed(kRocketBackwardUpper)) {
         elevator_wrist_pos_ = kPanelBackwardUpperPos;
+      } else if (data.IsPressed(kCargoForward)) {
+        elevator_wrist_pos_ = kPanelCargoForwardPos;
+      } else if (data.IsPressed(kCargoBackward)) {
+        elevator_wrist_pos_ = kPanelCargoBackwardPos;
       }
     }