commit aad1b69cdbe28d89edc2638ffc58e2f99de91271
author Maxwell Henderson <maxwell.henderson@mailbox.org> Sat Sep 23 11:31:54 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Sep 24 12:04:12 2023 -0700
tree b694dd6e63ae50983627afcfe64725b05c6744a3
parent 5e6d24dfe4067d539f46c6174e545843c166f151

Rezero roll joint

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I2065d64c7f2e40a098ad484c609d660a1a585d9b

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 6164754..a976d79 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -101,12 +101,12 @@
           M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
           (3.12725165289659 + 0.002) / 3.1485739705977704;
 
-      roll_joint->zeroing.measured_absolute_position = 1.79390317510529;
+      roll_joint->zeroing.measured_absolute_position = 1.82824749141201;
       roll_joint->potentiometer_offset =
           0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
           0.0257708772364788 - 0.0395076737853459 - 6.87914956118006 -
           0.097581301615046 + 3.3424421683095 - 3.97605190912604 +
-          0.709274294168941;
+          0.709274294168941 - 0.0817908884966825;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
           0.919903042931046;