Merge pull request #473 from thedropbears/new-intake-offset

set intake offset

Author: LucienMorey

components/intake.py

@@ -26,11 +26,11 @@ class IntakeComponent:
     desired_output = will_reset_to(0.0)
 
     # Offset is measured in the vertical position
-    VERTICAL_ENCODER_VALUE = 4.592024
+    VERTICAL_ENCODER_VALUE = 4.610450
     ARM_ENCODER_OFFSET = VERTICAL_ENCODER_VALUE - math.pi / 2.0
-    DEPLOYED_ANGLE_LOWER = 3.391598 - ARM_ENCODER_OFFSET
-    DEPLOYED_ANGLE_UPPER = 3.891598 - ARM_ENCODER_OFFSET
-    RETRACTED_ANGLE = 4.592024 - ARM_ENCODER_OFFSET
+    DEPLOYED_ANGLE_LOWER = 3.392366 - ARM_ENCODER_OFFSET
+    DEPLOYED_ANGLE_UPPER = 3.892366 - ARM_ENCODER_OFFSET
+    RETRACTED_ANGLE = 4.610450 - ARM_ENCODER_OFFSET
     ARM_MOI = 0.181717788
 
     gear_ratio = 4.0 * 5.0 * (48.0 / 40.0)