commit df6b1685342014be6fe2cac27f58ee7f08b556ca
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Jul 06 13:53:10 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Aug 10 11:47:01 2024 -0700
tree 8c29d3d59694ad3b178c8d9edb913b060f6c936f
parent 31112f531dd2fa075551de174947301959c9f846

Zero the swerve test drivebase

Update the constants to accommodate zeroing and zero the wheels on the
swerve base.

Change-Id: I448deca4ff1bb776072db631c7327a8cc33fbbc8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024_swerve/constants/common.jinja2

diff --git a/y2024_swerve/constants/common.jinja2 b/y2024_swerve/constants/common.jinja2
index 48b843c..57229fc 100644
--- a/y2024_swerve/constants/common.jinja2
+++ b/y2024_swerve/constants/common.jinja2
@@ -2,44 +2,40 @@
 
 {%
 set front_left_zero = {
-    "average_filter_size": 0,
+    "average_filter_size": 200,
     "one_revolution_distance": 2 * M_PI,
-    "measured_absolute_position": 0.76761395509829,
-    "zeroing_threshold": 0.0,
-    "moving_buffer_size": 0,
-    "allowable_encoder_error": 0.0,
+    "zeroing_threshold": 0.0005,
+    "moving_buffer_size": 20,
+    "allowable_encoder_error": 0.9,
 }
 %}
 
 {%
 set front_right_zero = {
-    "average_filter_size": 0,
+    "average_filter_size": 200,
     "one_revolution_distance": 2 * M_PI,
-    "measured_absolute_position": 0.779403958443922,
-    "zeroing_threshold": 0.0,
-    "moving_buffer_size": 0,
-    "allowable_encoder_error": 0.0,
+    "zeroing_threshold": 0.0005,
+    "moving_buffer_size": 20,
+    "allowable_encoder_error": 0.9,
 }
 %}
 
 {%
 set back_left_zero = {
-    "average_filter_size": 0,
+    "average_filter_size": 200,
     "one_revolution_distance": 2 * M_PI,
-    "measured_absolute_position": 0.053439698061417,
-    "zeroing_threshold": 0.0,
-    "moving_buffer_size": 0,
-    "allowable_encoder_error": 0.0,
+    "zeroing_threshold": 0.0005,
+    "moving_buffer_size": 20,
+    "allowable_encoder_error": 0.9,
 }
 %}
 
 {%
 set back_right_zero = {
-    "average_filter_size": 0,
+    "average_filter_size": 200,
     "one_revolution_distance": 2 * M_PI,
-    "measured_absolute_position": 0.719329333121509,
-    "zeroing_threshold": 0.0,
-    "moving_buffer_size": 0,
-    "allowable_encoder_error": 0.0,
+    "zeroing_threshold": 0.0005,
+    "moving_buffer_size": 20,
+    "allowable_encoder_error": 0.9,
 }
 %}