Make zero straight up and fix all the positions.
This makes it so we can swap arms and everything works. Also, add a
scale factor to the distal to manange the difference in pulley sizes.
Change-Id: I974be95bf2c7493565ba9fe9c267e6e9a521f1b7
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 2f41c91..4f41d97 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -432,10 +432,10 @@
Values::kProximalEncoderRatio(), proximal_pot_translate,
true, values_->arm_proximal.potentiometer_offset);
frc971::PotAndAbsolutePositionT distal;
- CopyPosition(distal_encoder_, &distal,
- Values::kDistalEncoderCountsPerRevolution(),
- Values::kDistalEncoderRatio(), distal_pot_translate, true,
- values_->arm_distal.potentiometer_offset);
+ CopyPosition(
+ distal_encoder_, &distal, Values::kDistalEncoderCountsPerRevolution(),
+ values_->arm_distal.zeroing.one_revolution_distance / (M_PI * 2.0),
+ distal_pot_translate, true, values_->arm_distal.potentiometer_offset);
frc971::PotAndAbsolutePositionT roll_joint;
CopyPosition(roll_joint_encoder_, &roll_joint,
Values::kRollJointEncoderCountsPerRevolution(),