Calibrate 2nd robot sensors
Also use different turret ranges for each robot.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I101531d63a59e20afe328bc8b0576fc2ef79c401
diff --git a/y2022/constants.h b/y2022/constants.h
index 4b5351e..f410014 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -44,8 +44,10 @@
// Climber
static constexpr ::frc971::constants::Range kClimberRange() {
- return ::frc971::constants::Range{
- .lower_hard = -0.01, .upper_hard = 0.59, .lower = 0.003, .upper = 0.555};
+ return ::frc971::constants::Range{.lower_hard = -0.01,
+ .upper_hard = 0.59,
+ .lower = 0.003,
+ .upper = 0.555};
}
static constexpr double kClimberPotMetersPerRevolution() {
return 22 * 0.25 * 0.0254;
@@ -109,16 +111,7 @@
// Turret
PotAndAbsEncoderConstants turret;
-
- // TODO (Yash): Constants need to be tuned
- static constexpr ::frc971::constants::Range kTurretRange() {
- return ::frc971::constants::Range{
- .lower_hard = -7.0, // Back Hard
- .upper_hard = 3.4, // Front Hard
- .lower = -6.5, // Back Soft
- .upper = 3.15 // Front Soft
- };
- }
+ frc971::constants::Range turret_range;
static constexpr double kTurretBackIntakePos() { return -M_PI; }
static constexpr double kTurretFrontIntakePos() { return 0; }