made the angle adjust move down when hanging
diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index 05c5e69..d9db969 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -65,6 +65,7 @@
virtual void RunIteration(const ::aos::input::driver_station::Data &data) {
static bool is_high_gear = false;
+ static double angle_adjust_goal = 0.42;
if (data.GetControlBit(ControlBit::kAutonomous)) {
if (data.PosEdge(ControlBit::kEnabled)){
@@ -164,7 +165,6 @@
::aos::ScopedMessagePtr<control_loops::ShooterLoop::Goal> shooter_goal =
shooter.goal.MakeMessage();
shooter_goal->velocity = 0;
- static double angle_adjust_goal = 0.42;
if (data.IsPressed(kPitShot1) && data.IsPressed(kPitShot2)) {
shooter_goal->velocity = 131;
if (hopper_clear) wrist_up_position = kWristCleared;
@@ -243,6 +243,7 @@
static int hanger_cycles = 0;
if (data.IsPressed(kDeployHangers)) {
++hanger_cycles;
+ angle_adjust_goal = 0.4;
} else {
hanger_cycles = 0;
}