tweaking more shots
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 9fc11dc..8eee134 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -78,8 +78,7 @@
};
const double kIntakePower = 4.0;
-// TODO(brians): This wants to be -0.04 on the comp bot. Make them both the
-// same.
+// In case we have to quickly adjust it.
const double kGrabSeparation = 0;
const double kShootSeparation = 0.11 + kGrabSeparation;
@@ -93,26 +92,30 @@
const ClawGoal kFlippedIntakeGoal = {2.0, kGrabSeparation};
const ClawGoal kFlippedIntakeOpenGoal = {0.95, 1.0};
-// 8" between near edge of colored line and rear edge of bumper
+// 34" between near edge of colored line and rear edge of bumper.
+// Only works running?
const ShotGoal kLongShotGoal = {
{-1.08, kShootSeparation}, 145, 0.04, kIntakePower};
-// 34" {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
+// old 34" {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
const ShotGoal kFlippedLongShotGoal = {
{0.96, kShootSeparation}, 145, 0.09, kIntakePower};
-// 34" {0.96, kShootSeparation}, 140, 0.09, kIntakePower};
+// old 34" {0.96, kShootSeparation}, 140, 0.09, kIntakePower};
-// 78" between near edge of colored line and rear edge of bumper
+// 78" between near edge of colored line and rear edge of bumper.
+// TODO(brians): kCloseShot
const ShotGoal kMediumShotGoal = {
{-0.95, kShootSeparation}, 105, 0.2, kIntakePower};
// 3/4" plunger {-0.90, kShootSeparation}, 105, 0.2, kIntakePower};
const ShotGoal kFlippedMediumShotGoal = {
- {0.905, kShootSeparation}, 120, 0.2, kIntakePower};
+ {0.865, kShootSeparation}, 120, 0.2, kIntakePower};
// 3/4" plunger {0.80, kShootSeparation}, 105, 0.2, kIntakePower};
+// Shot from the fender.
+// TODO(brians): kFenderShot
const ShotGoal kShortShotGoal = {
{-0.68, kShootSeparation}, 115.0, 0.4, kIntakePower};
const ShotGoal kFlippedShortShotGoal = {
- {0.67, kShootSeparation}, 115.0, 0.4, kIntakePower};
+ {0.63, kShootSeparation}, 115.0, 0.4, kIntakePower};
const ShotGoal kHumanShotGoal = {
{-0.90, kShootSeparation}, 140, 0.04, kIntakePower};