commit cb615cff50b15b45ba415207e6d3275227dc1fae
author Brian Silverman <brians> Sat Mar 21 21:42:35 2015 -0700
committer Brian Silverman <brians> Fri Mar 27 22:53:20 2015 -0400
tree 2da9b0f2dc8029c6629f2fe032ae71a3c4988d42
parent b9811eb4e68180a00094b15c83f0379923ede737

implement button to regrip a poorly held can

Change-Id: I435ba7943790feb85f548ca79c2de26ea4abe6eb

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 6311100..4ff9684 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -60,8 +60,8 @@
 // globally changed easier.
 
 // preset motion limits
-constexpr actors::ProfileParams kArmMove{1.00, 1.0};
-constexpr actors::ProfileParams kElevatorMove{1.00, 3.2};
+constexpr actors::ProfileParams kArmMove{0.5, 1.0};
+constexpr actors::ProfileParams kElevatorMove{0.3, 1.0};
 
 const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
 const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
@@ -98,7 +98,7 @@
 const ButtonLocation kCoopBottom(3, 6);
 const ButtonLocation kCoopBottomRetract(3, 9);
 
-const ButtonLocation kRetractFromScore(4, 12);
+const ButtonLocation kCanReset(4, 12);
 
 const POVLocation kFridgeToggle(4, 270);
 const ButtonLocation kSpit(4, 3);
@@ -241,6 +241,12 @@
       fridge_closed_ = true;
     }
 
+    if (data.PosEdge(kCanReset)) {
+      action_queue_.CancelAllActions();
+      elevator_goal_ = 0.3;
+      arm_goal_ = 0.0;
+    }
+
     // Tote chute pull in when button is pressed, pack when done.
     if (data.IsPressed(kToteChute)) {
       claw_goal_ = 0.8;