Tuned intake.
Change-Id: I028f6cbb8df55d281734ca39abb4f62b7fd27793
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index def6df1..067b59f 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -28,10 +28,10 @@
namespace input {
namespace joysticks {
-const ButtonLocation kIntakeDown(3, 9);
+const ButtonLocation kIntakeDown(3, 7);
const POVLocation kIntakeUp(3, 90);
-const ButtonLocation kIntakeIn(3, 12);
-const ButtonLocation kIntakeOut(3, 8);
+const POVLocation kIntakeIn(3, 270);
+const ButtonLocation kIntakeOut(3, 6);
const ButtonLocation kArmDown(3, 12);
const ButtonLocation kArmSwitch(3, 8);
@@ -94,11 +94,11 @@
if (data.IsPressed(kIntakeUp)) {
// Bring in the intake.
- intake_goal_ = -M_PI; //TODO(Neil): Add real value here once we have one.
+ intake_goal_ = -M_PI * 2.0 / 3.0;
}
if (data.IsPressed(kIntakeDown)) {
// Deploy the intake.
- intake_goal_ = 0; //TODO(Neil): Add real value here once we have one.
+ intake_goal_ = 0.25;
}
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
@@ -108,12 +108,10 @@
if (data.IsPressed(kIntakeIn)) {
// Turn on the rollers.
- new_superstructure_goal->intake.roller_voltage =
- 9.0; //TODO(Neil): Add real value once we have one.
+ new_superstructure_goal->intake.roller_voltage = 8.0;
} else if (data.IsPressed(kIntakeOut)) {
// Turn off the rollers.
- new_superstructure_goal->intake.roller_voltage =
- -9.0; //TODO(Neil): Add real value once we have one.
+ new_superstructure_goal->intake.roller_voltage = -12.0;
} else {
// We don't want the rollers on.
new_superstructure_goal->intake.roller_voltage = 0.0;
@@ -159,7 +157,7 @@
}
// Current goals to send to the robot.
- double intake_goal_ = 0.0;
+ double intake_goal_ = -M_PI * 2.0 / 3.0;
bool was_running_ = false;
bool auto_running_ = false;