Recalibrated elevator, fixed tote height, and added stacking joystick actions.
Change-Id: I6781e9e501f9996f2df6c4482dd1e03ef7bdefb3
diff --git a/frc971/constants.cc b/frc971/constants.cc
index 3f5213f..636735e 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -43,8 +43,7 @@
2.95, 0.2, 0.7};
const ShifterHallEffect kPracticeLeftDriveShifter{2.95, 4.2, 3.95,
3.0, 0.2, 0.7};
-// TODO(danielp): Actually measure one of them...
-const double kToteHeight = 0.5;
+const double kToteHeight = 0.3;
// Set by Daniel on 2/13/15.
// Distance from the center of the left wheel to the center of the right wheel.
@@ -209,13 +208,13 @@
// Elevator zeroing constants: left, right.
// TODO(sensors): Get actual offsets for these.
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.058672},
- {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.078646},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.066380},
+ {kZeroingSampleSize, kElevatorEncoderIndexDifference, 0.051888},
// Arm zeroing constants: left, right.
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.324437},
{kZeroingSampleSize, kArmEncoderIndexDifference, -0.064683},
- 0.722230,
- -0.081354,
+ 0.722230 - -0.000594,
+ -0.081354 - -0.000374,
-3.509611 - 0.007415 - -0.019081,
3.506927 - 0.170017 - -0.147970,