commit ed7f863bc846dfb9d31f1eb3a878bb990cfb2f13
author Austin Schuh <austin.linux@gmail.com> Fri Feb 15 23:12:20 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Feb 15 23:18:19 2019 -0800
tree dfe85a4187e0732d4743e907e22befd35ca7e961
parent 3e3d4ba344d2c81b18e4807be0440513377a9d9f

Calibrate the sensors on the practice bot

Change-Id: I8d44af57778f1b09843ef760a9a357fdd9e11270

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index a679cf1..cdcedcc 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -93,11 +93,11 @@
 
 double elevator_pot_translate(double voltage) {
   return voltage * Values::kElevatorPotRatio() *
-         (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
+         (10.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
 }
 
 double wrist_pot_translate(double voltage) {
-  return voltage * Values::kWristPotRatio() * (10.0 /*turns*/ / 5.0 /*volts*/) *
+  return voltage * Values::kWristPotRatio() * (5.0 /*turns*/ / 5.0 /*volts*/) *
          (2 * M_PI /*radians*/);
 }