Add climber to wpilib interface
Change-Id: Ifcc9520b2a01fb67fe54b94b7535e53d61b03e74
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 89de4b9..75a4b26 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -43,7 +43,9 @@
const ButtonLocation kFeed(4, 1);
const ButtonLocation kIntakeExtend(3, 9);
const ButtonLocation kIntakeIn(4, 4);
-const ButtonLocation kSpit(4, 5);
+const ButtonLocation kSpit(4, 3);
+
+const ButtonLocation kWinch(3, 14);
class Reader : public ::aos::input::ActionJoystickInput {
public:
@@ -75,6 +77,7 @@
float roller_speed = 0.0f;
double accelerator_speed = 0.0;
double finisher_speed = 0.0;
+ double climber_speed = 0.0;
if (data.IsPressed(kTurret)) {
turret_pos = 3.5;
@@ -105,6 +108,10 @@
roller_speed = -6.0f;
}
+ if (data.IsPressed(kWinch)) {
+ climber_speed = 12.0f;
+ }
+
auto builder = superstructure_goal_sender_.MakeBuilder();
flatbuffers::Offset<superstructure::Goal> superstructure_goal_offset;
@@ -137,6 +144,7 @@
superstructure_goal_builder.add_roller_voltage(roller_speed);
superstructure_goal_builder.add_shooter(shooter_offset);
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed));
+ superstructure_goal_builder.add_climber_voltage(climber_speed);
if (!builder.Send(superstructure_goal_builder.Finish())) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");