Added higher long shot button cause we were nervous.
Change-Id: I7442365169005fa28de7aa0efea110d19cc80749
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index a995dca..0023ac8 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -55,6 +55,7 @@
// Buttons on the lexan driver station to get things running on bring-up day.
const ButtonLocation kIntakeDown(3, 11);
const POVLocation kFrontLong(3, 180);
+const ButtonLocation kHigherFrontLong(3, 6);
const POVLocation kBackLong(3, 0);
const POVLocation kBackFender(3, 90);
const POVLocation kFrontFender(3, 270);
@@ -208,7 +209,13 @@
}
}
- if (data.IsPressed(kFrontLong)) {
+ if (data.IsPressed(kHigherFrontLong)) {
+ // Forwards shot
+ shoulder_goal_ = M_PI / 2.0 + 0.1;
+ wrist_goal_ = M_PI + 0.43;
+ shooter_velocity_ = 640.0;
+ intake_goal_ = intake_when_shooting;
+ } else if (data.IsPressed(kFrontLong)) {
// Forwards shot
shoulder_goal_ = M_PI / 2.0 + 0.1;
wrist_goal_ = M_PI + 0.40;