commit 4d93d4c456b717c56b4e50c1939184a4230bfc85
author Niko Sohmers <nikolai@sohmers.com> Sun Mar 24 14:48:26 2024 -0700
committer Niko Sohmers <nikolai@sohmers.com> Sun Mar 24 16:09:52 2024 -0700
tree 5b953c776652836084007c81ffd40f52115e4446
parent 57c6df5d0f346ab19183019c8f669e9b070ab0d4

Remove Encoder from Climber

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: Ia219b303a500c46fdd72aad592053fe81e807f2b

y2024/joystick_reader.cc

diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 293e57e..5b2fc74 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -58,8 +58,7 @@
 const ButtonLocation kAimPodium(0, 0);
 const ButtonLocation kShoot(0, 0);
 const ButtonLocation kRaiseClimber(3, 2);
-const ButtonLocation kSlowClimber(3, 1);
-const ButtonLocation kRetractClimber(2, 3);
+const ButtonLocation kRaiseFastClimber(3, 1);
 const ButtonLocation kExtraButtonOne(0, 0);
 const ButtonLocation kExtraButtonTwo(0, 0);
 const ButtonLocation kExtraButtonThree(0, 0);
@@ -163,21 +162,10 @@
     superstructure_goal_builder->set_fire(data.IsPressed(kFire) ||
                                           data.IsPressed(kDriverFire));
 
-    if (data.IsPressed(kRetractClimber)) {
-      superstructure_goal_builder->set_climber_goal(
-          superstructure::ClimberGoal::RETRACT);
-    } else if (data.IsPressed(kRaiseClimber)) {
-      superstructure_goal_builder->set_climber_goal(
-          superstructure::ClimberGoal::FULL_EXTEND);
-    } else {
-      superstructure_goal_builder->set_climber_goal(
-          superstructure::ClimberGoal::STOWED);
-    }
-
-    if (data.IsPressed(kSlowClimber)) {
-      superstructure_goal_builder->set_slow_climber(true);
-    } else {
-      superstructure_goal_builder->set_slow_climber(false);
+    if (data.IsPressed(kRaiseClimber)) {
+      superstructure_goal_builder->set_climber_goal_voltage(4.0);
+    } else if (data.IsPressed(kRaiseFastClimber)) {
+      superstructure_goal_builder->set_climber_goal_voltage(6.0);
     }
 
     superstructure_goal_builder.CheckOk(superstructure_goal_builder.Send());