commit ff831f51370db99edeb538ef9b9ffc30195edc24
author Maxwell Henderson <mxwhenderson@gmail.com> Wed Feb 21 13:51:59 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Thu Feb 22 11:30:59 2024 -0800
tree 94f8cb92989e0dfb5a592dac00361f86e55fb796
parent ca7c9b6b0ed23adb7ef91522a166143681235f5e

Add climber zeroing

Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I686434479483d192e48c2e1dd04da8b81b5ef89b

y2024/constants/971.json

diff --git a/y2024/constants/971.json b/y2024/constants/971.json
index ee1d2a1..34962af 100644
--- a/y2024/constants/971.json
+++ b/y2024/constants/971.json
@@ -21,11 +21,11 @@
     "climber_constants": {
       {% set _ = climber_zero.update(
           {
-              "measured_absolute_position" : 0.0
+              "measured_absolute_position" : 0.0102739460232857
           }
       ) %}
       "zeroing_constants": {{ climber_zero | tojson(indent=2)}},
-      "potentiometer_offset": 0.0
+      "potentiometer_offset": {{ -0.935529777248618 + 1.83632555414775 }}
     },
     "catapult_constants": {
       {% set _ = catapult_zero.update(

y2024/constants/common.jinja2

diff --git a/y2024/constants/common.jinja2 b/y2024/constants/common.jinja2
index d2ac3dc..2d36c78 100644
--- a/y2024/constants/common.jinja2
+++ b/y2024/constants/common.jinja2
@@ -33,7 +33,7 @@
 %}
 
 {% set climber_encoder_ratio = (16.0 / 60.0) %}
-{% set climber_radius = 16.0 * 0.25 / 2.0 / pi %}
+{% set climber_radius = 16.0 * 0.25 * 0.0254 %}
 {%
 set climber_zero = {
     "average_filter_size": zeroing_sample_size,

y2024/wpilib_interface.cc

diff --git a/y2024/wpilib_interface.cc b/y2024/wpilib_interface.cc
index 508b610..7cec608 100644
--- a/y2024/wpilib_interface.cc
+++ b/y2024/wpilib_interface.cc
@@ -78,7 +78,7 @@
 constexpr double kMaxBringupPower = 12.0;
 
 double climber_pot_translate(double voltage) {
-  return voltage * Values::kClimberPotMetersPerVolt();
+  return -1 * voltage * Values::kClimberPotMetersPerVolt();
 }
 
 double extend_pot_translate(double voltage) {