commit 13e55521f6fcff8b20358ac4b3d9591d230a6673
author Austin Schuh <austin.linux@gmail.com> Sat Feb 29 23:11:17 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 01 16:09:22 2020 -0800
tree 873f192e6920405afeeb351b1aebbe4c152698e5
parent 43b9ae95f735b3c9df3fc380277cd66df3c296bd

Sequence the indexer

Wiggle it and make sure the right rollers are spinning while we are
out.

Change-Id: I1f0596735c214ed2a7696be298faf6049f610128

y2020/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 75a4b26..026a50b 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -96,7 +96,13 @@
     }
 
     if (data.IsPressed(kIntakeExtend)) {
-      intake_pos = 1.0;
+      intake_pos = 1.2;
+      roller_speed = 9.0f;
+    }
+
+    if (superstructure_status_fetcher_.get() &&
+        superstructure_status_fetcher_->intake()->position() > -0.5) {
+      roller_speed = std::max(roller_speed, 6.0f);
     }
 
     if (data.IsPressed(kFeed)) {
@@ -119,7 +125,7 @@
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
           hood_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
               *builder.fbb(), hood_pos,
-              CreateProfileParameters(*builder.fbb(), 0.5, 1.0));
+              CreateProfileParameters(*builder.fbb(), 0.7, 3.0));
 
       flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
           intake_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(