commit f7afd111608be2adff9c3a93861f8415a6c33eaa
author Sabina Davis <sabina1109@gmail.com> Sun Feb 23 13:42:14 2020 -0800
committer Sabina Davis <sabina1109@gmail.com> Sun Feb 23 18:31:14 2020 -0800
tree aae14b471b44bf9b9774411d267b267cd8f76530
parent 347f68f73cc9010ad5b907302b35d63d03b0c78a

Calibrate 2020 comp robot's sensors

Change-Id: Idfa19614f7044d0fc28494736eb685d28851fe33

y2020/constants.cc

diff --git a/y2020/constants.cc b/y2020/constants.cc
index 90129dd..f0610a0 100644
--- a/y2020/constants.cc
+++ b/y2020/constants.cc
@@ -102,12 +102,15 @@
       break;
 
     case kCompTeamNumber:
-      hood->zeroing_constants.measured_absolute_position = 0.0;
+      hood->zeroing_constants.measured_absolute_position = 0.432541963515072;
 
-      intake->zeroing_constants.measured_absolute_position = 0.0;
+      intake->zeroing_constants.measured_absolute_position =
+          1.42977866919024 - Values::kIntakeZero();
 
-      turret->potentiometer_offset = 0.0;
-      turret_params->zeroing_constants.measured_absolute_position = 0.0;
+      turret->potentiometer_offset =
+          5.52519370141247 + 0.00853506822980376 + 0.0109413725126625;
+      turret_params->zeroing_constants.measured_absolute_position =
+          0.251065633255048;
       break;
 
     case kPracticeTeamNumber: