Improved shooter usability and tested on robot.
Tweaked shooter constants (probably insignificant), linearized victors, added more buttons to allow drivers to run the shooter at several options of speed, and tested this on the robot.
diff --git a/bot3/input/joystick_reader.cc b/bot3/input/joystick_reader.cc
index 6922e1e..199d1e6 100644
--- a/bot3/input/joystick_reader.cc
+++ b/bot3/input/joystick_reader.cc
@@ -134,10 +134,28 @@
push = true;
}
if (data.IsPressed(kFire)) {
+ velocity = 500;
+ }
+ else if (data.IsPressed(ButtonLocation(3, 1))) {
+ velocity = 50;
+ }
+ else if (data.IsPressed(ButtonLocation(3, 2))) {
velocity = 250;
}
+ else if (data.IsPressed(ButtonLocation(3, 5))) {
+ velocity = 300;
+ }
+ else if (data.IsPressed(ButtonLocation(3, 7))) {
+ velocity = 350;
+ }
+ else if (data.IsPressed(ButtonLocation(3, 8))) {
+ velocity = 400;
+ }
+ else if (data.IsPressed(ButtonLocation(3, 10))) {
+ velocity = 450;
+ }
if (data.IsPressed(kIntake)) {
- intake = 0.9;
+ intake = 0.8;
}
shooter.goal.MakeWithBuilder().intake(intake).velocity(velocity).push(push).Send();
#if 0