Fixed the shooter constants, a bunch of initialization bugs, and made it work without springs.
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 8dfec5a..d751a43 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -5,6 +5,7 @@
#include "aos/linux_code/init.h"
#include "aos/prime/input/joystick_input.h"
+#include "aos/common/input/driver_station_data.h"
#include "aos/common/logging/logging.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
@@ -31,6 +32,8 @@
const ButtonLocation kQuickTurn(1, 5);
const ButtonLocation kClawClosed(3, 7);
const ButtonLocation kClawOpen(3, 9);
+const ButtonLocation kFire(3, 11);
+const ButtonLocation kUnload(3, 12);
class Reader : public ::aos::input::JoystickInput {
public:
@@ -117,16 +120,17 @@
double separation_angle = closed_ ? 0.0 : 0.5;
double goal_angle = closed_ ? 0.0 : -0.2;
if (!control_loops::claw_queue_group.goal.MakeWithBuilder()
- .bottom_angle(goal_angle)
- .separation_angle(separation_angle)
- .intake(false).Send()) {
+ .bottom_angle(goal_angle)
+ .separation_angle(separation_angle)
+ .intake(false)
+ .Send()) {
LOG(WARNING, "sending claw goal failed\n");
}
if (!control_loops::shooter_queue_group.goal.MakeWithBuilder()
- .shot_power(0)
- .shot_requested(false)
- .unload_requested(true)
- .Send()) {
+ .shot_power(0.25)
+ .shot_requested(data.IsPressed(kFire))
+ .unload_requested(data.IsPressed(kUnload))
+ .Send()) {
LOG(WARNING, "sending shooter goal failed\n");
}
}