commit 3cba37970437f99f18de9289bdfa3536918de81b
author Austin Schuh <austin@peloton-tech.com> Sun Apr 19 20:01:22 2015 -0700
committer Brian Silverman <brians> Thu May 14 00:41:07 2015 -0400
tree 7de19129b8b65f5bb9c885f5311be6eebeea6132
parent 4db921a10c913f8f6a0f854ba07190c3c1eea7e6

Added pause while lifing the can.

Change-Id: I8ff43073566592fc0d8de7ddd693842adf86be2d

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index e85240f..7dd7024 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -290,6 +290,7 @@
       params.clamp_pause_time = 0.0;
       params.lift_params.lift_height = kStackUpHeight;
       params.lift_params.lift_arm = kStackUpArm;
+      params.lift_params.second_lift = false;
       params.grab_after_lift = true;
       fridge_closed_ = true;
 
@@ -333,6 +334,7 @@
       params.claw_out_angle = kClawStackClearance;
       params.lift_params.lift_height = kStackUpHeight;
       params.lift_params.lift_arm = kStackUpArm;
+      params.lift_params.second_lift = false;
       fridge_closed_ = true;
 
       action_queue_.EnqueueAction(actors::MakeHeldToLiftAction(params));
@@ -345,6 +347,8 @@
       params.lift_arm = 0.3;
       params.pack_claw = false;
       params.pack_claw_angle = 0;
+      params.intermediate_lift_height = 0.37;
+      params.second_lift = true;
       fridge_closed_ = true;
 
       action_queue_.EnqueueAction(actors::MakeLiftAction(params));