Practice and comp robot calibration for MTTD
Need to make the catapult range change per robot
Change-Id: I830855614d07f5fea484b9eb2a932c7f25bd6901
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/constants.cc b/y2022/constants.cc
index c97058e..444e87d 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -131,23 +131,23 @@
// Interpolation table for comp and practice robots
r.shot_interpolation_table = InterpolationTable<Values::ShotParams>({
- {1.0, {0.05, 19.4}},
- {1.6, {0.05, 19.4}},
- {1.9, {0.1, 19.4}},
- {2.12, {0.13, 19.4}},
- {2.9, {0.24, 19.9}},
+ {1.0, {0.12, 19.4}},
+ {1.6, {0.12, 19.4}},
+ {1.9, {0.17, 19.4}},
+ {2.12, {0.21, 19.4}},
+ {2.9, {0.30, 19.9}},
- {3.2, {0.26, 20.7}},
+ {3.2, {0.33, 20.1}},
- {3.60, {0.33, 20.9}},
- {4.50, {0.38, 22.5}},
- {4.9, {0.4, 22.9}},
- {5.4, {0.4, 23.9}},
+ {3.60, {0.39, 20.65}},
+ {4.50, {0.44, 22.3}},
+ {4.9, {0.43, 22.75}}, // up to here
+ {5.4, {0.43, 23.85}},
- {6.0, {0.40, 25.4}},
- {7.0, {0.37, 28.1}},
+ {6.0, {0.42, 25.3}},
+ {7.0, {0.40, 27.7}},
- {10.0, {0.37, 28.1}},
+ {10.0, {0.40, 27.7}},
});
if (false) {
@@ -238,13 +238,22 @@
0.0634440443622909 + 0.213601224728352 + 0.0657973101027296 -
0.114726411377978 - 0.980314029089968 - 0.0266013159299456 +
0.0631240002215899 + 0.222882504808653 + 0.0370686419434252 -
- 0.0965027214840068 - 0.126737479717192;
+ 0.0965027214840068 - 0.126737479717192 - 0.0773753775457 +
+ 2.8132444751306;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 1.3081068967929;
+ 1.16683731504739;
flipper_arm_left->potentiometer_offset = -6.4;
flipper_arm_right->potentiometer_offset = 5.56;
+ *turret_range = ::frc971::constants::Range{
+ .lower_hard = -7.0, // Back Hard
+ .upper_hard = 3.4, // Front Hard
+ .lower = -6.4, // Back Soft
+ .upper = 2.9 // Front Soft
+ };
+ turret_params->range = *turret_range;
+
catapult_params->zeroing_constants.measured_absolute_position =
1.71723370408082;
catapult->potentiometer_offset = -2.03383240293769;
@@ -256,6 +265,8 @@
break;
case kPracticeTeamNumber:
+ catapult_params->range.lower = -0.885;
+
r.shot_interpolation_table = InterpolationTable<Values::ShotParams>({
{1.0, {0.08, 20.0}},
{1.6, {0.08, 20.0}},
@@ -276,7 +287,8 @@
{10.0, {0.39, 28.25}},
});
- climber->potentiometer_offset = -0.1209073362519 + 0.0760598;
+ climber->potentiometer_offset =
+ -0.1209073362519 + 0.0760598 - 0.0221716219244 - 0.00321684;
intake_front->potentiometer_offset = 3.06604378582351 - 0.60745632979918;
intake_front->subsystem_params.zeroing_constants
.measured_absolute_position = 0.143667561169188;
@@ -291,14 +303,18 @@
0.0718028442723373 - 0.0793332946417493 + 0.233707527214682 +
0.0828349540635251 + 0.677740533247017 - 0.0828349540635251 -
0.0903654044329345 - 0.105426305171759 - 0.150609007388226 -
- 0.0338870266623506 - 0.0677740533247011;
+ 0.0338870266623506 - 0.0677740533247011 - 0.135548106649404 - 0.6852;
turret->subsystem_params.zeroing_constants.measured_absolute_position =
- 1.50798193457968;
- turret_range->upper = 2.9;
- turret_range->lower = -6.4;
+ 0.8306;
+ *turret_range = ::frc971::constants::Range{
+ .lower_hard = -7.0, // Back Hard
+ .upper_hard = 3.4, // Front Hard
+ .lower = -6.4, // Back Soft
+ .upper = 2.9 // Front Soft
+ };
turret_params->range = *turret_range;
- flipper_arm_left->potentiometer_offset = -4.39536583413615;
- flipper_arm_right->potentiometer_offset = 4.36264091401229;
+ flipper_arm_left->potentiometer_offset = -4.39536583413615 - 0.108401297910291;
+ flipper_arm_right->potentiometer_offset = 4.36264091401229 + 0.175896445665755;
catapult_params->zeroing_constants.measured_absolute_position =
1.62909518684227;
diff --git a/y2022/vision/camera_definition.py b/y2022/vision/camera_definition.py
index d3e44b7..3b34ca2 100644
--- a/y2022/vision/camera_definition.py
+++ b/y2022/vision/camera_definition.py
@@ -109,24 +109,24 @@
camera_yaw = 0.0
T = np.array([-9.5 * 0.0254, -3.5 * 0.0254, 34.5 * 0.0254])
elif pi_number == "pi3":
- camera_yaw = 179.0 * np.pi / 180.0
+ camera_yaw = 182.0 * np.pi / 180.0
T = np.array([-9.5 * 0.0254, 3.5 * 0.0254, 34.5 * 0.0254])
elif pi_number == "pi4":
camera_yaw = -90.0 * np.pi / 180.0
T = np.array([-10.25 * 0.0254, -5.0 * 0.0254, 27.5 * 0.0254])
elif team_number == 9971:
if pi_number == "pi1":
- camera_yaw = 180.5 * np.pi / 180.0
+ camera_yaw = 179.0 * np.pi / 180.0
T = np.array([-9.5 * 0.0254, 3.25 * 0.0254, 35.5 * 0.0254])
elif pi_number == "pi2":
camera_yaw = 0.0
T = np.array([-9.0 * 0.0254, -3.25 * 0.0254, 35.5 * 0.0254])
elif pi_number == "pi3":
camera_yaw = 90.0 * np.pi / 180.0
- T = np.array([-10.5 * 0.0254, -5.0 * 0.0254, 29.5 * 0.0254])
+ T = np.array([-10.5 * 0.0254, 5.0 * 0.0254, 29.5 * 0.0254])
elif pi_number == "pi4":
camera_yaw = -90.0 * np.pi / 180.0
- T = np.array([-10.5 * 0.0254, 5.0 * 0.0254, 28.0 * 0.0254])
+ T = np.array([-10.5 * 0.0254, -5.0 * 0.0254, 28.5 * 0.0254])
else:
glog.fatal("Unknown team number for extrinsics")