commit 4db921a10c913f8f6a0f854ba07190c3c1eea7e6
author Austin Schuh <austin@peloton-tech.com> Sun Apr 19 19:59:24 2015 -0700
committer Brian Silverman <brians> Thu May 14 00:41:07 2015 -0400
tree 3422f3d5170920e58e6a4bed68341df518c92b54
parent 3c56fe06225d436050a65bae8c71ac8ee98321a6

Horizontal can pickup doesn't stick anymore.

Change-Id: I325995b6c200c58ff201017bc152e5c77048f471

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 70d30ea..e85240f 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -227,7 +227,10 @@
     if (data.PosEdge(kElevatorCanUp)) {
       actors::HorizontalCanPickupParams params;
       params.elevator_height = 0.3;
-      params.pickup_angle = 0.60 + kHorizontalCanClawAngle;
+      params.pickup_angle = 0.80 + kHorizontalCanClawAngle;
+      params.spit_time = 0.01;
+      params.spit_power = -8.0;
+
       params.suck_time = 0.10;
       params.suck_power = 10.0;