commit 2728e1903cf6047542a22de3a8d7d5ca163f42a6
author Brian Silverman <brians@dell-inspiron-linux.dlinkrouter> Sat Nov 02 17:38:12 2013 -0700
committer Brian Silverman <brians> Sat Nov 02 17:39:06 2013 -0700
tree da2c64aa726baf760afec1d46b4c8765dc5328f5
parent 8b27fa4fb241db19e065cd2996f45d40bfafedd0

got vision code working again

frc971/input/JoystickReader.cc

diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index a2404d0..3cbe3c5 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -171,28 +171,17 @@
         if (hopper_clear) wrist_up_position = kWristCleared;
         angle_adjust_goal = 0.70;
       } else if (data.IsPressed(kLongShot)) {
-#if 0
         target_angle.FetchLatest();
         if (target_angle.IsNewerThanMS(500)) {
           shooter_goal->velocity = target_angle->shooter_speed;
           angle_adjust_goal = target_angle->shooter_angle;
           // TODO(brians): do the math right here
-          wrist_up_position = 0.70;
+          if (!hopper_clear) wrist_up_position = 0.70;
         } else {
           LOG(WARNING, "camera frame too old\n");
-          // pretend like no button is pressed
+          // Pretend like no button is pressed.
         }
-#endif
-        // This shot is from 30'.
-        shooter_goal->velocity = 360;
-        if (!hopper_clear) wrist_up_position = 1.23 - 0.4;
-        angle_adjust_goal = 0.630;
       } else if (data.IsPressed(kMediumShot)) {
-#if 0
-        shooter_goal->velocity = 375;
-        wrist_up_position = 0.70;
-        angle_adjust_goal = 0.564;
-#endif
         // middle wheel on the back line (same as auto)
         shooter_goal->velocity = 395;
         if (!hopper_clear) wrist_up_position = 1.23 - 0.4;