commit 34f891d53a95b1bafa346b28ffbbc6d91d47f911
author Comran Morshed <comranmorsh@gmail.com> Tue Sep 15 22:04:43 2015 +0000
committer Comran Morshed <comranmorsh@gmail.com> Wed Sep 16 21:56:09 2015 +0000
tree 9216f9e2ee3595b33cde60821fd307d5463dd713
parent 4c6a84dce80dba0e1d395fed1c9e52ad6043e9b0

Add can grabber auto.

Change-Id: I47b2c93916018dce3923a8a66c1ac2c663d1f7a1

bot3/joystick_reader.cc

diff --git a/bot3/joystick_reader.cc b/bot3/joystick_reader.cc
index 9ded2ca..a819757 100644
--- a/bot3/joystick_reader.cc
+++ b/bot3/joystick_reader.cc
@@ -72,6 +72,9 @@
 
 const ButtonLocation kScoreBegin(4, 8);
 
+const ButtonLocation kCanGrabberLift(2, 1);
+const ButtonLocation kFastCanGrabberLift(2, 3);
+
 class Reader : public ::aos::input::JoystickInput {
  public:
   Reader() : was_running_(false) {}
@@ -230,7 +233,6 @@
     }
 
     // Buttons for elevator.
-
     if (data.PosEdge(kCarry)) {
       // TODO(comran): Get actual height/velocity/acceleration values.
       elevator_goal_ = 0.180;
@@ -261,6 +263,15 @@
       tote_count_ = 0;
     }
 
+    // Buttons for can grabber.
+    if (data.IsPressed(kCanGrabberLift)) {
+      ::bot3::autonomous::can_grabber_control.MakeWithBuilder()
+        .can_grabber_voltage(-4).Send();
+    } else if (data.IsPressed(kFastCanGrabberLift)) {
+      ::bot3::autonomous::can_grabber_control.MakeWithBuilder()
+        .can_grabber_voltage(-12).Send();
+    }
+
     // Send our goals if everything looks OK.
     if (!waiting_for_zero_) {
       if (!action_queue_.Running()) {