commit e5248cd5fefa911cef157765223728909b5e7a80
author Austin Schuh <austin.linux@gmail.com> Sun Mar 05 12:46:16 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 05 15:31:30 2023 -0800
tree 1e0f125bb0114f3d6afe16666c63697f5e97bde5
parent dba3270ab51951913584948b1f06c67da9f22905

Support both the new intake and old intake

The gear ratio is like 2% different, not worth stressing about.  The mag
encoder moved though, so it has 2 different ratios.

Calibrate the bot since everything got replaced...

Change-Id: I79b3b01b7bf829bd12a77911f9484b9ccb896205
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/control_loops/python/wrist.py

diff --git a/y2023/control_loops/python/wrist.py b/y2023/control_loops/python/wrist.py
index 60ae8a6..fe2fcf6 100644
--- a/y2023/control_loops/python/wrist.py
+++ b/y2023/control_loops/python/wrist.py
@@ -20,7 +20,7 @@
 kWrist = angular_system.AngularSystemParams(
     name='Wrist',
     motor=control_loop.BAG(),
-    G=(6.0 / 48.0) * (20.0 / 100.0) * (24.0 / 36.0) * (36.0 / 60.0),
+    G=(6.0 / 48.0) * (20.0 / 100.0) * (18.0 / 24.0) * (24.0 / 44.0),
     # Use parallel axis theorem to get the moment of inertia around
     # the joint (I = I_cm + mh^2 = 0.001877 + 0.8332 * 0.0407162^2)
     J=0.003258,

y2023/control_loops/superstructure/superstructure_lib_test.cc

diff --git a/y2023/control_loops/superstructure/superstructure_lib_test.cc b/y2023/control_loops/superstructure/superstructure_lib_test.cc
index 4eeb0f6..ee440ed 100644
--- a/y2023/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2023/control_loops/superstructure/superstructure_lib_test.cc
@@ -181,7 +181,7 @@
                PositionSensorSimulator(
                    values->wrist.subsystem_params.zeroing_constants
                        .one_revolution_distance),
-               values->wrist, constants::Values::kWristRange(),
+               values->wrist, constants::Values::kCompWristRange(),
                values->wrist.subsystem_params.zeroing_constants
                    .measured_absolute_position,
                dt_),
@@ -449,7 +449,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kWristRange().middle());
+            *builder.fbb(), constants::Values::kCompWristRange().middle());
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
     goal_builder.add_arm_goal_position(arm::NeutralIndex());
@@ -474,7 +474,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kWristRange().upper);
+            *builder.fbb(), constants::Values::kCompWristRange().upper);
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
 
@@ -505,7 +505,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kWristRange().upper);
+            *builder.fbb(), constants::Values::kCompWristRange().upper);
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();
 
@@ -524,7 +524,7 @@
 
     flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
         wrist_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
-            *builder.fbb(), constants::Values::kWristRange().lower,
+            *builder.fbb(), constants::Values::kCompWristRange().lower,
             CreateProfileParameters(*builder.fbb(), 20.0, 0.1));
 
     Goal::Builder goal_builder = builder.MakeBuilder<Goal>();