commit 18a901d2f28313146890adbf9c04a279cabe097b
author milind-u <milind.upadhyay@gmail.com> Fri Feb 17 21:51:55 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 22 20:44:25 2023 -0800
tree 7071496a6ff1c59d7d31687c1b0aae715eeefe62
parent b83e1c721a749c91f089181c2d008ccd5625c69b

Add roll joint to superstructure and arm UI

Arm UI changes:
- Update robot dimensions
- Support visualizing roll joint
- Add roll joint collision detection

Superstructure changes:
- Adding roll joint feedback loop and zeroing estimator

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I422e343890248940bba98ba3cabac94e68723a3e

y2023/joystick_reader.cc

diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 3d019f1..3caaa41 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -72,12 +72,12 @@
     // TODO(milind): add more actions and paths
     if (data.IsPressed(kIntake)) {
       intake = true;
-      arm_goal_position_ = arm::ConePosIndex();
+      arm_goal_position_ = arm::PickupPosIndex();
     } else if (data.IsPressed(kSpit)) {
       spit = true;
-      arm_goal_position_ = arm::ConePosIndex();
+      arm_goal_position_ = arm::PickupPosIndex();
     } else if (data.IsPressed(kScore)) {
-      arm_goal_position_ = arm::ConePerchPosIndex();
+      arm_goal_position_ = arm::ScorePosIndex();
     }
 
     {