commit 335fd0df7eeabfaf8979075131c78e1361fa458e
author Austin Schuh <austin@peloton-tech.com> Sun Apr 19 20:02:38 2015 -0700
committer Brian Silverman <brians> Thu May 14 00:41:07 2015 -0400
tree d45ff9877e6dcb16a65548196054128a76d0a44d
parent 9c414f4521e05ad121155232efcc7501bd54a443

Lowered elevator setpoint so it goes under the lip.

Change-Id: I5d69f1bb06465c4fb9bc351e6aa4ad28be425a2a

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 7dd7024..b8ad544 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -240,7 +240,7 @@
       params.claw_end_angle = 0.5;
 
       // End low so we don't drop it.
-      params.elevator_end_height = 0.3;
+      params.elevator_end_height = 0.28;
       params.arm_end_angle = 0.0;
       action_queue_.EnqueueAction(
           actors::MakeHorizontalCanPickupAction(params));
@@ -253,12 +253,12 @@
       actors::CanPickupParams params;
       params.pickup_x = 0.6;
       params.pickup_y = 0.1;
-      params.lift_height = 0.2;
+      params.lift_height = 0.25;
       params.pickup_goal_before_move_height = 0.3;
       params.start_lowering_x = 0.1;
       // End low so the can is supported.
       params.before_place_height = 0.4;
-      params.end_height = 0.3;
+      params.end_height = 0.28;
       params.end_angle = 0.0;
       action_queue_.EnqueueAction(actors::MakeCanPickupAction(params));
       fridge_closed_ = true;
@@ -266,7 +266,7 @@
 
     if (data.PosEdge(kCanReset)) {
       action_queue_.CancelAllActions();
-      elevator_goal_ = 0.3;
+      elevator_goal_ = 0.28;
       arm_goal_ = 0.0;
     }