Added more claw buttons.
Change-Id: I133332e919917f1d7afa463c9355c7ec8c93884c
diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 502c83e..5d3077c 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -50,6 +50,7 @@
const ButtonLocation kElevatorUp(3, 10);
const ButtonLocation kElevatorDown(3, 3);
const ButtonLocation kArmUp(3, 8);
+const ButtonLocation kArmHighUp(1, 4);
const ButtonLocation kCanPickup(3, 8);
const ButtonLocation kArmDown(2, 6);
const ButtonLocation kClawUp(3, 7);
@@ -192,11 +193,21 @@
claw_goal_ = 0.8;
}
+ if (data.PosEdge(kArmHighUp)) {
+ claw_goal_ = 1.6;
+ }
+
if (data.PosEdge(kZero)) {
elevator_goal_ = 0.0;
arm_goal_ = 0.0;
claw_goal_ = 0.0;
}
+ if (data.PosEdge(kClawUp)) {
+ claw_goal_ = 0.6;
+ }
+ if (data.PosEdge(kClawDown)) {
+ claw_goal_ = 0.0;
+ }
if (data.PosEdge(kClawClosed)) {
claw_rollers_closed_ = true;