commit d9959e016353ab1086888b83212eb9b2e9ee7ba7
author James Kuszmaul <jabukuszmaul@gmail.com> Fri Mar 11 22:53:00 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 10:21:53 2022 -0800
tree cda443fab7c408cbfae1c8182ffbedb6e9d8d4f1
parent 61e58832af93e702c108b98ed7077bdf609ee7b7

Bringup transfer rollers & zero turret

Change-Id: I32d6f91ca47a8997489acc34a58f3afa7a4d59ef
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 7162dfa..a380a4e 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -161,9 +161,10 @@
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.280099007470002;
 
-      turret->potentiometer_offset = -9.99970387166721 + 0.06415943;
+      turret->potentiometer_offset =
+          -9.99970387166721 + 0.06415943 + 0.073290115367682;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.587661064668491;
+          0.511895084051468;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.66;

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index b5b26d1..2f69758 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -268,7 +268,7 @@
       superstructure_goal_builder.add_transfer_roller_speed_front(
           transfer_roller_front_speed);
       superstructure_goal_builder.add_transfer_roller_speed_back(
-          transfer_roller_front_speed);
+          transfer_roller_back_speed);
 
       if (builder.Send(superstructure_goal_builder.Finish()) !=
           aos::RawSender::Error::kOk) {

y2022/wpilib_interface.cc

diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 2294cda..a1b1202 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -518,7 +518,7 @@
     WriteCan(output.roller_voltage_back(), roller_falcon_back_.get());
     WritePwm(output.transfer_roller_voltage_front(),
              transfer_roller_victor_front_.get());
-    WritePwm(output.transfer_roller_voltage_back(),
+    WritePwm(-output.transfer_roller_voltage_back(),
              transfer_roller_victor_back_.get());
 
     WriteCan(-output.flipper_arms_voltage(), flipper_arms_falcon_.get());