Re-calibrated practice robot after Davis.
Change-Id: Ib97e5f85ec2377de787bcaabf10a87eb54a6d611
diff --git a/y2016/constants.cc b/y2016/constants.cc
index 4f1a01e..d90ab9b 100644
--- a/y2016/constants.cc
+++ b/y2016/constants.cc
@@ -117,24 +117,24 @@
{
// Hard stop is 164.2067247 degrees.
-4.2193 + (164.2067247 * M_PI / 180.0 + 0.02 - 0.0235) + 0.0549 -
- 0.104,
+ 0.104 + 0.019 - 0.938,
{Values::kZeroingSampleSize, Values::kIntakeEncoderIndexDifference,
- 0.363074, 0.3},
+ 0.823963, 0.3},
},
// Shoulder (Now calibrated at 0)
{
- -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0,
+ -1.0016 - 0.0841 + 0.06138835 * M_PI / 180.0 + 1.07838 - 1.0441,
{Values::kZeroingSampleSize, Values::kShoulderEncoderIndexDifference,
- 0.014860, 0.3},
+ 0.416092, 0.3},
},
// Wrist
{
3.326328571170133 - 0.06138835 * M_PI / 180.0 - 0.177 + 0.0323 -
- 0.023,
+ 0.023 + 0.0488,
{Values::kZeroingSampleSize, Values::kWristEncoderIndexDifference,
- -0.622423, 0.3},
+ -0.005145, 0.3},
},
"practice",