commit ebf76eead3ea11560412d360c4b5206355b75655
author Austin Schuh <austin.linux@gmail.com> Fri Feb 24 20:34:33 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 24 20:36:06 2023 -0800
tree 872ef5a3a422bbc32d47a0eca5c51efff50c3a87
parent 91a4e5549d445e42c1b70009df20ab2b4c175b1a

Make the distal sprocket 1 tooth bigger.

Change-Id: Ie6c8ecd95f3ef1e1c622b28346ec7f4403becb90
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 71e8682..3e4ec4b 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -82,23 +82,23 @@
       break;
 
     case kCompTeamNumber:
-      arm_proximal->zeroing.measured_absolute_position = 0.0910237406998185;
+      arm_proximal->zeroing.measured_absolute_position = 0.149079699400425;
       arm_proximal->potentiometer_offset = 0.931355973012855 + 8.6743197253382 -
                                            0.101200335326309 -
-                                           0.0820901660993467;
+                                           0.0820901660993467 - 0.0703733798337964;
 
-      arm_distal->zeroing.measured_absolute_position = 0.556077643172765;
+      arm_distal->zeroing.measured_absolute_position = 0.617279923658987;
       arm_distal->potentiometer_offset =
           0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
           0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
-          0.0164398318919943;
+          0.0164398318919943 - 0.145833494945215;
 
-      roll_joint->zeroing.measured_absolute_position = 1.10682573591996;
+      roll_joint->zeroing.measured_absolute_position = 0.926576490230748;
       roll_joint->potentiometer_offset =
           3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
           0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
           0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
-          0.5935210745062;
+          0.5935210745062 + 0.166256655718334;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
           0.183283543884167;

y2023/constants.h

diff --git a/y2023/constants.h b/y2023/constants.h
index d2caca6..072ae17 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -73,14 +73,14 @@
   }
 
   static constexpr double kDistalEncoderCountsPerRevolution() { return 4096.0; }
-  static constexpr double kDistalEncoderRatio() { return (15.0 / 95.0); }
+  static constexpr double kDistalEncoderRatio() { return (15.0 / 96.0); }
   static constexpr double kMaxDistalEncoderPulsesPerSecond() {
     return control_loops::superstructure::arm::kArmConstants.free_speed /
            (2.0 * M_PI) / control_loops::superstructure::arm::kArmConstants.g1 /
            kDistalEncoderRatio() * kProximalEncoderCountsPerRevolution();
   }
   static constexpr double kDistalPotRatio() {
-    return (36.0 / 24.0) * (15.0 / 95.0);
+    return (36.0 / 24.0) * (15.0 / 96.0);
   }
 
   static constexpr double kDistalPotRadiansPerVolt() {

y2023/control_loops/superstructure/arm/arm_constants.h

diff --git a/y2023/control_loops/superstructure/arm/arm_constants.h b/y2023/control_loops/superstructure/arm/arm_constants.h
index 6151027..fc716af 100644
--- a/y2023/control_loops/superstructure/arm/arm_constants.h
+++ b/y2023/control_loops/superstructure/arm/arm_constants.h
@@ -29,8 +29,8 @@
     .r1 = 20 * 0.0254,
 
     // Gear ratios for the two joints.
-    .g0 = 55.0,
-    .g1 = 106.0,
+    .g0 = (60. / 16.) * (58. / 24.) * (95. / 15.),
+    .g1 = (52. / 14.) * (42. / 34.) * (66. / 18.) * (96. / 15.),
 
     // Falcon motor constants.
     .efficiency_tweak = kEfficiencyTweak,