commit e9075d1fb0fdfd9fae88dd86986d962f102f20f5
author Milind Upadhyay <milind.upadhyay@gmail.com> Tue Apr 12 22:45:16 2022 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Fri Apr 15 13:16:52 2022 -0700
tree 01f81c2820a1d250c69f75830e497d96e4c23406
parent e19cf8ed54f33d6fd6970e32f5ffb936e0731990

Calibrate 2nd robot sensors

Also use different turret ranges for each robot.

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I101531d63a59e20afe328bc8b0576fc2ef79c401

y2022/control_loops/superstructure/superstructure.cc

diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 4717f1a..454e147 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -34,8 +34,8 @@
           event_loop->MakeFetcher<CANPosition>("/superstructure")),
       joystick_state_fetcher_(
           event_loop->MakeFetcher<aos::JoystickState>("/aos")),
-      ball_color_fetcher_(event_loop->MakeFetcher<y2022::vision::BallColor>(
-          "/superstructure")),
+      ball_color_fetcher_(
+          event_loop->MakeFetcher<y2022::vision::BallColor>("/superstructure")),
       aimer_(values) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
@@ -284,9 +284,8 @@
   // Turn to the loading position as close to the middle of the range as
   // possible. Do the unwraping before we have a ball so we don't have to unwrap
   // to shoot.
-  turret_loading_position =
-      frc971::zeroing::Wrap(constants::Values::kTurretRange().middle_soft(),
-                            turret_loading_position, 2.0 * M_PI);
+  turret_loading_position = frc971::zeroing::Wrap(
+      values_->turret_range.middle_soft(), turret_loading_position, 2.0 * M_PI);
 
   turret_loading_goal_buffer.Finish(
       frc971::control_loops::CreateStaticZeroingSingleDOFProfiledSubsystemGoal(