commit 3fdf241a685ff8f116d095ad16585e8ebc36bdbf
author Austin Schuh <austin.linux@gmail.com> Sat Oct 16 13:56:46 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 16 13:57:29 2021 -0700
tree 98cf04fa30c05396df73601327c70c22692e5a1c
parent 4408c42eebf0224d935811dc14fe403d00cf3494

Adjust button mapping to support testing better

Change-Id: Icd38b9cd4dc71db78067e94b7d96c82592025a96
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 6565460..e52708e 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -39,10 +39,12 @@
 // TODO(sabina): fix button locations.
 
 const ButtonLocation kShootFast(3, 16);
-const ButtonLocation kAutoTrack(3, 15);
-const ButtonLocation kHood(3, 3);
+const ButtonLocation kAutoTrack(3, 3);
+const ButtonLocation kAutoNoHood(3, 5);
+const ButtonLocation kHood(3, 4);
 const ButtonLocation kShootSlow(4, 2);
 const ButtonLocation kFeed(4, 1);
+const ButtonLocation kFeedDriver(1, 2);
 const ButtonLocation kIntakeExtend(3, 9);
 const ButtonLocation kIntakeIn(4, 4);
 const ButtonLocation kSpit(4, 3);
@@ -109,7 +111,8 @@
     double climber_speed = 0.0;
     bool preload_intake = false;
 
-    const bool auto_track = data.IsPressed(kAutoTrack);
+    const bool auto_track =
+        data.IsPressed(kAutoTrack) || data.IsPressed(kAutoNoHood);
 
     if (data.IsPressed(kHood)) {
       hood_pos = 0.45;
@@ -202,11 +205,13 @@
       superstructure_goal_builder.add_roller_speed_compensation(
           roller_speed_compensation);
       superstructure_goal_builder.add_shooter(shooter_offset);
-      superstructure_goal_builder.add_shooting(data.IsPressed(kFeed));
+      superstructure_goal_builder.add_shooting(data.IsPressed(kFeed) ||
+                                               data.IsPressed(kFeedDriver));
       superstructure_goal_builder.add_climber_voltage(climber_speed);
 
       superstructure_goal_builder.add_turret_tracking(auto_track);
-      superstructure_goal_builder.add_hood_tracking(auto_track);
+      superstructure_goal_builder.add_hood_tracking(
+          auto_track && !data.IsPressed(kAutoNoHood));
       superstructure_goal_builder.add_shooter_tracking(auto_track);
       superstructure_goal_builder.add_intake_preloading(preload_intake);