Rezero 2nd robot
Signed-off-by: Xander Yee <xander.yee@gmail.com>
Change-Id: I181b81494de24076f9fcaa74891043fe83b62dc5
diff --git a/y2023/constants.cc b/y2023/constants.cc
index 56be337..d5ce08d 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -116,25 +116,26 @@
break;
case kPracticeTeamNumber:
- arm_proximal->zeroing.measured_absolute_position = 0.146982006490838;
+ arm_proximal->zeroing.measured_absolute_position = 0.20382113250339;
arm_proximal->potentiometer_offset =
0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
0.0820901660993467 - 0.0703733798337964 - 0.0294645384848748 -
- 0.577156175549626 - 0.000944609125286267;
+ 0.577156175549626 - 0.000944609125286267 + 2.725142829769231;
- arm_distal->zeroing.measured_absolute_position = 0.187578439107614;
+ arm_distal->zeroing.measured_absolute_position = 0.495791180283887;
arm_distal->potentiometer_offset =
0.436664933370656 + 0.49457213779426 + 6.78213223139724 -
0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
0.0164398318919943 - 0.145833494945215 + 0.234878799868491 +
0.125924230298394 + 0.147136306208754 - 0.69167546169753 -
0.308761538844425 + 0.610386472488493 + 0.08384162885249 +
- 0.0262274735196811 + 0.5153995156153 - 0.4485275474911;
+ 0.0262274735196811 + 0.5153995156153 - 0.4485275474911 -
+ 0.417143262506383;
arm_distal->zeroing.one_revolution_distance =
M_PI * 2.0 * constants::Values::kDistalEncoderRatio();
- roll_joint->zeroing.measured_absolute_position = 0.919380272775513;
+ roll_joint->zeroing.measured_absolute_position = 0.33405867628836;
roll_joint->potentiometer_offset =
-(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
@@ -143,10 +144,10 @@
0.11972765117321 - 0.318724743041507) +
0.0201047336425017 - 1.0173426655158 - 0.186085272847293 -
0.0317706563397807 - 2.6357823523782 + 0.871932806570122 +
- 1.09682107821155 - 0.193945964842277;
+ 1.09682107821155 - 0.193945964842277 + 0.811834321668829;
wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 0.886183343417664;
+ 3.07684945189677;
break;