commit cb091717cd465dfca867172266b68108c74b8251
author Austin Schuh <austin.linux@gmail.com> Wed Feb 21 20:01:55 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 03 00:00:56 2018 -0800
tree c0f957acb0e86cf94e4f2b4089963e767922e371
parent f853bded2f6c029448a01389fd481aeec43a0db1

Arm works

Added gravity and calibrated it.  Terifying...

Change-Id: I70babb1cd3b83ddd7a81f06fb2a75cefd55bcdb8

y2018/constants.cc

diff --git a/y2018/constants.cc b/y2018/constants.cc
index 5326d68..57f4cdc 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -33,8 +33,8 @@
   Values *const r = new Values();
   Values::IntakeSide *const left_intake = &r->left_intake;
   Values::IntakeSide *const right_intake = &r->right_intake;
-  Values::Proximal *const proximal = &r->proximal;
-  Values::Distal *const distal = &r->distal;
+  Values::Proximal *const arm_proximal = &r->arm_proximal;
+  Values::Distal *const arm_distal = &r->arm_distal;
 
   left_intake->zeroing.average_filter_size = Values::kZeroingSampleSize();
   left_intake->zeroing.one_revolution_distance =
@@ -45,19 +45,19 @@
 
   *right_intake = *left_intake;
 
-  proximal->zeroing.average_filter_size = Values::kZeroingSampleSize();
-  proximal->zeroing.one_revolution_distance =
+  arm_proximal->zeroing.average_filter_size = Values::kZeroingSampleSize();
+  arm_proximal->zeroing.one_revolution_distance =
       M_PI * 2.0 * constants::Values::kProximalEncoderRatio();
-  proximal->zeroing.zeroing_threshold = 0.0005;
-  proximal->zeroing.moving_buffer_size = 20;
-  proximal->zeroing.allowable_encoder_error = 0.9;
+  arm_proximal->zeroing.zeroing_threshold = 0.0005;
+  arm_proximal->zeroing.moving_buffer_size = 20;
+  arm_proximal->zeroing.allowable_encoder_error = 0.9;
 
-  distal->zeroing.average_filter_size = Values::kZeroingSampleSize();
-  distal->zeroing.one_revolution_distance =
+  arm_distal->zeroing.average_filter_size = Values::kZeroingSampleSize();
+  arm_distal->zeroing.one_revolution_distance =
       M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
-  distal->zeroing.zeroing_threshold = 0.0005;
-  distal->zeroing.moving_buffer_size = 20;
-  distal->zeroing.allowable_encoder_error = 0.9;
+  arm_distal->zeroing.zeroing_threshold = 0.0005;
+  arm_distal->zeroing.moving_buffer_size = 20;
+  arm_distal->zeroing.allowable_encoder_error = 0.9;
 
   switch (team) {
     // A set of constants for tests.
@@ -73,11 +73,11 @@
       right_intake->potentiometer_offset = 0.0;
       right_intake->spring_offset = 0.0;
 
-      proximal->zeroing.measured_absolute_position = 0.0;
-      proximal->potentiometer_offset = 0.0;
+      arm_proximal->zeroing.measured_absolute_position = 0.0;
+      arm_proximal->potentiometer_offset = 0.0;
 
-      distal->zeroing.measured_absolute_position = 0.0;
-      distal->potentiometer_offset = 0.0;
+      arm_distal->zeroing.measured_absolute_position = 0.0;
+      arm_distal->potentiometer_offset = 0.0;
       break;
 
     case kCompTeamNumber:
@@ -92,11 +92,11 @@
       right_intake->potentiometer_offset = 0.0;
       right_intake->spring_offset = 0.0;
 
-      proximal->zeroing.measured_absolute_position = 0.0;
-      proximal->potentiometer_offset = 0.0;
+      arm_proximal->zeroing.measured_absolute_position = 0.0;
+      arm_proximal->potentiometer_offset = 0.0;
 
-      distal->zeroing.measured_absolute_position = 0.0;
-      distal->potentiometer_offset = 0.0;
+      arm_distal->zeroing.measured_absolute_position = 0.0;
+      arm_distal->potentiometer_offset = 0.0;
       break;
 
     case kPracticeTeamNumber:
@@ -111,11 +111,11 @@
       right_intake->potentiometer_offset = 0.0;
       right_intake->spring_offset = 0.0;
 
-      proximal->zeroing.measured_absolute_position = 0.0;
-      proximal->potentiometer_offset = 0.0;
+      arm_proximal->zeroing.measured_absolute_position = 0.0;
+      arm_proximal->potentiometer_offset = 0.0;
 
-      distal->zeroing.measured_absolute_position = 0.0;
-      distal->potentiometer_offset = 0.0;
+      arm_distal->zeroing.measured_absolute_position = 0.0;
+      arm_distal->potentiometer_offset = 0.0;
       break;
 
     default: