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.h

diff --git a/y2020/constants.h b/y2020/constants.h
index 7fbb704..f0e3564 100644
--- a/y2020/constants.h
+++ b/y2020/constants.h
@@ -49,10 +49,10 @@
 
   static constexpr ::frc971::constants::Range kHoodRange() {
     return ::frc971::constants::Range{
-        -0.01,  // Back Hard
-        0.65,   // Front Hard
-        0.0,    // Back Soft
-        0.64    // Front Soft
+        0.00,  // Back Hard
+        0.64,   // Front Hard
+        0.01,    // Back Soft
+        0.63    // Front Soft
     };
   }
 
@@ -71,16 +71,17 @@
            kIntakeEncoderRatio() * kIntakeEncoderCountsPerRevolution();
   }
 
-  // TODO(sabina): update range
   static constexpr ::frc971::constants::Range kIntakeRange() {
     return ::frc971::constants::Range{
-        -1,     // Back Hard
-        1,      // Front Hard
-        -0.95,  // Back Soft
-        0.95    // Front Soft
+        -1.05,  // Back Hard
+        1.44,   // Front Hard
+        -0.89,  // Back Soft
+        1.26    // Front Soft
     };
   }
 
+  static constexpr double kIntakeZero() { return -57 * M_PI / 180.0; }
+
   ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemParams<
       ::frc971::zeroing::AbsoluteEncoderZeroingEstimator>
       intake;
@@ -92,7 +93,7 @@
   static constexpr double kTurretEncoderCountsPerRevolution() { return 4096.0; }
 
   static constexpr double kTurretEncoderRatio() {
-    return (26.0 / 150.0) * (130.0 / 40.0);
+    return (26.0 / 150.0) * (130.0 / 26.0);
   }
 
   static constexpr double kMaxTurretEncoderPulsesPerSecond() {
@@ -105,11 +106,10 @@
 
   static constexpr ::frc971::constants::Range kTurretRange() {
     return ::frc971::constants::Range{
-        // TODO (Kai): Placeholders right now.
-        -3.2,   // Back Hard
-        3.2,    // Front Hard
-        -3.14,  // Back Soft
-        3.14    // Front Soft
+        -4.6,   // Back Hard
+        4.85,   // Front Hard
+        -4.3,   // Back Soft
+        4.7123  // Front Soft
     };
   }
 
@@ -142,7 +142,7 @@
 
   // Shooter
   static constexpr double kFinisherEncoderCountsPerRevolution() {
-    return 4096.0;
+    return 2048.0;
   }
   static constexpr double kFinisherEncoderRatio() { return 30.0 / 40.0; }
 
@@ -154,7 +154,7 @@
 
 
   static constexpr double kAcceleratorEncoderCountsPerRevolution() {
-    return 4096.0;
+    return 2048.0;
   }
   static constexpr double kAcceleratorEncoderRatio() {
     return (1.2 * 1.2 * 1.2) * (30.0 / 40.0);