commit c9c157aa96a2f3c4fb15af6f4b1db716debdfdc6
author Austin Schuh <austin.linux@gmail.com> Tue Feb 19 13:36:22 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Feb 19 13:43:10 2019 -0800
tree 97fcb5d849560e25a515964cf21e2bd93c468e03
parent e2f89388ab9f62a8c8b92de2cde87b5ba3cd6751

Calibrate comp robot for 2019

Change-Id: Ifedd1d37ee3ae0e30024bcec7df1e584dc3299ec

y2019/constants.cc

diff --git a/y2019/constants.cc b/y2019/constants.cc
index 4204b5c..d77d2c7 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -104,6 +104,7 @@
   intake->zeroing_constants.zeroing_threshold = 0.0005;
   intake->zeroing_constants.moving_buffer_size = 20;
   intake->zeroing_constants.allowable_encoder_error = 0.9;
+  intake->zeroing_constants.middle_position = Values::kIntakeRange().middle();
 
   // Stilts constants.
   stilts_params->zeroing_voltage = 3.0;
@@ -128,7 +129,6 @@
       elevator->potentiometer_offset = 0.0;
 
       intake->zeroing_constants.measured_absolute_position = 0.0;
-      intake->zeroing_constants.middle_position = 0.0;
 
       wrist_params->zeroing_constants.measured_absolute_position = 0.0;
       wrist->potentiometer_offset = 0.0;
@@ -138,29 +138,23 @@
       break;
 
     case kCompTeamNumber:
-      elevator_params->zeroing_constants.measured_absolute_position = 0.0;
-      elevator->potentiometer_offset = 0.0;
+      elevator_params->zeroing_constants.measured_absolute_position = 0.019470;
+      elevator->potentiometer_offset = -0.075017;
 
-      intake->zeroing_constants.measured_absolute_position = 0.0;
-      intake->zeroing_constants.middle_position = 0.0;
+      intake->zeroing_constants.measured_absolute_position = 1.860016;
 
-      wrist_params->zeroing_constants.measured_absolute_position = 0.0;
-      wrist->potentiometer_offset = 0.0;
+      wrist_params->zeroing_constants.measured_absolute_position = 0.163840;
+      wrist->potentiometer_offset = -4.257454;
 
-      stilts_params->zeroing_constants.measured_absolute_position = 0.0;
-      stilts->potentiometer_offset = 0.0;
+      stilts_params->zeroing_constants.measured_absolute_position = 0.030049;
+      stilts->potentiometer_offset = -0.015760 + 0.011604;
       break;
 
     case kPracticeTeamNumber:
-      elevator_params->zeroing_constants.measured_absolute_position = 0.172663;
-      elevator->potentiometer_offset = -0.022320 + 0.020567;
+      elevator_params->zeroing_constants.measured_absolute_position = 0.160767;
+      elevator->potentiometer_offset = -0.022320 + 0.020567 - 0.022355;
 
       intake->zeroing_constants.measured_absolute_position = 1.756847;
-      intake->zeroing_constants.middle_position =
-          Values::kIntakeRange().middle();
-
-      stilts_params->zeroing_constants.measured_absolute_position = 0.0;
-      stilts->potentiometer_offset = 0.0;
 
       wrist_params->zeroing_constants.measured_absolute_position = 0.357394;
       wrist->potentiometer_offset = -1.479097 - 2.740303;
@@ -174,7 +168,6 @@
       elevator->potentiometer_offset = 0.0;
 
       intake->zeroing_constants.measured_absolute_position = 0.0;
-      intake->zeroing_constants.middle_position = 0.0;
 
       wrist_params->zeroing_constants.measured_absolute_position = 0.0;
       wrist->potentiometer_offset = 0.0;