Calibrate competition robot sensors.
Change-Id: I5504e727666758f67b0b8ff9b70a93264b0293ae
diff --git a/y2018/constants.cc b/y2018/constants.cc
index 833353d..907b97f 100644
--- a/y2018/constants.cc
+++ b/y2018/constants.cc
@@ -88,19 +88,21 @@
r->vision_name = "competition";
r->vision_error = 0.0;
- left_intake->zeroing.measured_absolute_position = 0.0;
- left_intake->potentiometer_offset = 0.0;
- left_intake->spring_offset = 0.0;
+ left_intake->zeroing.measured_absolute_position = 0.213653;
+ left_intake->potentiometer_offset = -5.45258;
+ left_intake->spring_offset = -0.25;
- right_intake->zeroing.measured_absolute_position = 0.0;
- right_intake->potentiometer_offset = 0.0;
- right_intake->spring_offset = 0.0;
+ right_intake->zeroing.measured_absolute_position = 0.056773;
+ right_intake->potentiometer_offset = 3.739919;
+ right_intake->spring_offset = 0.25 - 0.014;
- arm_proximal->zeroing.measured_absolute_position = 0.0;
- arm_proximal->potentiometer_offset = 0.0;
+ arm_proximal->zeroing.measured_absolute_position =
+ 0.067941 + 1.047 - 0.116 + 0.06 - 0.004;
+ arm_proximal->potentiometer_offset = 1.047 - 3.653298 + -0.078 + 0.9455;
- arm_distal->zeroing.measured_absolute_position = 0.0;
- arm_distal->potentiometer_offset = 0.0;
+ arm_distal->zeroing.measured_absolute_position =
+ -0.870445 + 5.209807817203074 + 0.118 - 0.004;
+ arm_distal->potentiometer_offset = 5.209807817203074 + 1.250476;
break;
case kPracticeTeamNumber:
@@ -115,12 +117,13 @@
right_intake->potentiometer_offset = 9.59 + 1.530320 - 3.620648;
right_intake->spring_offset = 0.255 + 0.008;
- arm_proximal->zeroing.measured_absolute_position = 0.1877 + 0.02;
- arm_proximal->potentiometer_offset = -1.242 - 0.03;
+ arm_proximal->zeroing.measured_absolute_position = 0.1877 + 0.02 + 0.1;
+ arm_proximal->potentiometer_offset = -1.242 - 0.03 - 0.1;
arm_distal->zeroing.measured_absolute_position =
- 1.102987 - kDistalZeroingPosition;
- arm_distal->potentiometer_offset = 2.772210 + M_PI + 0.434;
+ 1.102987 - kDistalZeroingPosition + 0.12;
+ arm_distal->potentiometer_offset =
+ 2.772210 + M_PI + 0.434 - 0.12 + 1.25 - 0.226;
break;
default:
diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index a39b550..4609827 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -26,8 +26,8 @@
return kGrannyMode() ? 4.0 : 12.0;
}
static constexpr double kDt() { return 0.00505; }
- static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 15.0; }
- static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 15.0; }
+ static constexpr double kAlpha0Max() { return kGrannyMode() ? 10.0 : 10.0; }
+ static constexpr double kAlpha1Max() { return kGrannyMode() ? 10.0 : 10.0; }
static constexpr double kVMax() { return kGrannyMode() ? 5.0 : 11.5; }
static constexpr double kPathlessVMax() { return 5.0; }
diff --git a/y2018/wpilib_interface.cc b/y2018/wpilib_interface.cc
index 4a7fe1d..7dd1f11 100644
--- a/y2018/wpilib_interface.cc
+++ b/y2018/wpilib_interface.cc
@@ -473,13 +473,13 @@
intake_spring_translate(left_intake_spring_angle_->GetVoltage()) +
values.left_intake.spring_offset;
superstructure_message->left_intake.beam_break =
- left_intake_cube_detector_->Get();
+ !left_intake_cube_detector_->Get();
superstructure_message->right_intake.spring_angle =
-intake_spring_translate(right_intake_spring_angle_->GetVoltage()) +
values.right_intake.spring_offset;
superstructure_message->right_intake.beam_break =
- right_intake_cube_detector_->Get();
+ !right_intake_cube_detector_->Get();
superstructure_message->claw_beambreak_triggered = !claw_beambreak_->Get();
superstructure_message->box_back_beambreak_triggered =