Recalibrate 2nd robot
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Idb099ec4b27a8b18c6a9693cc7da2f194c3424c9
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 5b65977..aaf8cde 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -272,25 +272,24 @@
{10.0, {0.39, 28.25}},
});
- // TODO(milind): calibrate once mounted
climber->potentiometer_offset = -0.1209073362519 + 0.0760598;
intake_front->potentiometer_offset = 3.06604378582351 - 0.60745632979918;
intake_front->subsystem_params.zeroing_constants
.measured_absolute_position = 0.143667561169188;
- intake_back->potentiometer_offset = 3.10861174832838 + 0.431432052414186 -
- 0.171422335492571 +
- 0.0414174770317617;
+ intake_back->potentiometer_offset =
+ 3.10861174832838 + 0.431432052414186 - 0.171422335492571 +
+ 0.0414174770317617 + 0.0908883523752557 - 0.0632767010207473;
intake_back->subsystem_params.zeroing_constants
- .measured_absolute_position = 0.33350955486723;
+ .measured_absolute_position = 0.404628372743507;
turret->potentiometer_offset =
-8.14418207451834 + 0.342635491808218 - 0.944807955598189 -
0.0718028442723373 - 0.0793332946417493 + 0.233707527214682 +
0.0828349540635251 + 0.677740533247017 - 0.0828349540635251 -
0.0903654044329345 - 0.105426305171759 - 0.150609007388226 -
- 0.0338870266623506;
+ 0.0338870266623506 - 0.0677740533247011;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 1.43911620174213;
+ 1.50798193457968;
turret_range->upper = 2.9;
turret_range->lower = -6.4;
turret_params->range = *turret_range;