Add feed
Change-Id: I00616ce7641de6da58d3bbee7e74296385399c83
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 39c913e..9a6c3cd 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -97,6 +97,12 @@
if (output != nullptr) {
if (unsafe_goal) {
+ output_struct.washing_machine_spinner_voltage = 6.0;
+ if (unsafe_goal->shooting()) {
+ output_struct.feeder_voltage = 6.0;
+ } else {
+ output_struct.feeder_voltage = 0.0;
+ }
output_struct.intake_roller_voltage = unsafe_goal->roller_voltage();
} else {
output_struct.intake_roller_voltage = 0.0;
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 7910859..89de4b9 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -40,6 +40,7 @@
const ButtonLocation kTurret(3, 15);
const ButtonLocation kHood(3, 3);
const ButtonLocation kShootSlow(4, 2);
+const ButtonLocation kFeed(4, 1);
const ButtonLocation kIntakeExtend(3, 9);
const ButtonLocation kIntakeIn(4, 4);
const ButtonLocation kSpit(4, 5);
@@ -84,8 +85,8 @@
}
if (data.IsPressed(kShootFast)) {
- accelerator_speed = 600.0;
- finisher_speed = 200.0;
+ accelerator_speed = 500.0;
+ finisher_speed = 500.0;
} else if (data.IsPressed(kShootSlow)) {
accelerator_speed = 30.0;
finisher_speed = 30.0;
@@ -95,6 +96,9 @@
intake_pos = 1.0;
}
+ if (data.IsPressed(kFeed)) {
+ }
+
if (data.IsPressed(kIntakeIn)) {
roller_speed = 6.0f;
} else if (data.IsPressed(kSpit)) {
@@ -132,6 +136,7 @@
superstructure_goal_builder.add_turret(turret_offset);
superstructure_goal_builder.add_roller_voltage(roller_speed);
superstructure_goal_builder.add_shooter(shooter_offset);
+ superstructure_goal_builder.add_shooting(data.IsPressed(kFeed));
if (!builder.Send(superstructure_goal_builder.Finish())) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");