Tuned intake action to work every time.
Change-Id: I3918d0270581e33d002e5f578dde5785700f19f1
diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 9fd4441..502c83e 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -157,12 +157,16 @@
if (data.PosEdge(kPickup)) {
actors::PickupParams params;
- params.pickup_angle = 0.7;
- params.suck_angle = 0.5;
+ // Lift to here initially.
+ params.pickup_angle = 0.9;
+ // Start sucking here
+ params.suck_angle = 0.8;
+ // Go back down to here to finish sucking.
params.suck_angle_finish = 0.4;
- params.pickup_finish_angle = 0.87;
- params.intake_time = 0.5;
- params.intake_voltage = 12.0;
+ // Pack the box back in here.
+ params.pickup_finish_angle = 0.95;
+ params.intake_time = 0.8;
+ params.intake_voltage = 9.0;
action_queue_.EnqueueAction(actors::MakePickupAction(params));
}
if (data.PosEdge(kElevatorDown)) {