commit f774d2d88bb89cdee46664987a5c7dc0b76cd70a
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Oct 03 08:02:35 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Oct 03 08:05:24 2021 -0700
tree 0b66d935c2588741b11569160872b7bca5d7747f
parent 073b513256b4106b3e58d72142c17d8f09b93fcd

Fix turret calibration

* The calibration for the turret position was messed up following the
  turret work done earlier.
* The camera extrinsics were absurdly far off.

Change-Id: Ife97b85a4ac426038b7ca30e6b9994597ff81810
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index 3f5cd2a..1336411 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -138,9 +138,11 @@
           1.42977866919024 - Values::kIntakeZero();
 
       turret->potentiometer_offset = 5.52519370141247 + 0.00853506822980376 +
-                                     0.0109413725126625 - 0.223719825811759;
+                                     0.0109413725126625 - 0.223719825811759 +
+                                     0.261356551915472;
+      ;
       turret_params->zeroing_constants.measured_absolute_position =
-          0.547478339799516;
+          0.588553036694566;
 
       hood->zeroing_constants.measured_absolute_position = 0.0344482433884915;
       hood->zeroing_constants.single_turn_measured_absolute_position =