commit ff0b05cd131e4c80870b13b3b8a2c0ae5baefe04
author Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:47:51 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 12 17:48:54 2022 -0800
tree 3f2a06be17322d927f13c022a0a29cb560ed8143
parent 17be41dce934e179c00a418ec3e5eb56ea357e7c

Re-calibrate turret

No clue why it slipped...

Change-Id: Ie79d6305235c28113860376ab0df13fd13ec38b9
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 34ffae2..980735f 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -161,10 +161,10 @@
       intake_back->subsystem_params.zeroing_constants
           .measured_absolute_position = 0.280099007470002;
 
-      turret->potentiometer_offset =
-          -9.99970387166721 + 0.06415943 + 0.073290115367682;
+      turret->potentiometer_offset = -9.99970387166721 + 0.06415943 +
+                                     0.073290115367682 - 0.0634440443622909;
       turret->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.511895084051468;
+          0.568649928102931;
 
       flipper_arm_left->potentiometer_offset = -6.4;
       flipper_arm_right->potentiometer_offset = 5.56;

y2022/constants.h

diff --git a/y2022/constants.h b/y2022/constants.h
index e3bc93f..ffe1283 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -113,7 +113,7 @@
         .lower_hard = -6.0,  // Back Hard
         .upper_hard = 4.0,   // Front Hard
         .lower = -5.0,       // Back Soft
-        .upper = 3.7         // Front Soft
+        .upper = 3.3         // Front Soft
     };
   }