New driver station buttons.
Change-Id: Iaf21ec7545c1703e268e58b0a0ad3d562f9d8bf0
diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index a6e6c93..0e15eb0 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -24,8 +24,9 @@
using ::y2016::control_loops::superstructure_queue;
using ::aos::input::driver_station::ButtonLocation;
-using ::aos::input::driver_station::JoystickAxis;
using ::aos::input::driver_station::ControlBit;
+using ::aos::input::driver_station::JoystickAxis;
+using ::aos::input::driver_station::POVLocation;
namespace y2016 {
namespace input {
@@ -39,14 +40,15 @@
const ButtonLocation kTurn2(1, 11);
// Buttons on the lexan driver station to get things running on bring-up day.
-const ButtonLocation kTest1(3, 6);
-const ButtonLocation kTest2(3, 2);
-const ButtonLocation kTest3(3, 11);
-const ButtonLocation kTest4(3, 9);
+const ButtonLocation kIntakeDown(3, 11);
+const POVLocation kFrontLong(3, 180);
+const POVLocation kBackLong(3, 0);
+const ButtonLocation kTest3(3, 7);
+const ButtonLocation kIntakeIn(3, 12);
const ButtonLocation kTest5(3, 8);
-const ButtonLocation kTest6(3, 3);
+const ButtonLocation kFire(3, 3);
const ButtonLocation kTest7(3, 5);
-const ButtonLocation kTest8(3, 4);
+const ButtonLocation kIntakeOut(3, 9);
class Reader : public ::aos::input::JoystickInput {
public:
@@ -144,37 +146,35 @@
waiting_for_zero_ = true;
}
- if (data.IsPressed(kTest1)) {
- intake_goal_ = 1.6;
- } else {
+ if (data.IsPressed(kIntakeDown)) {
intake_goal_ = 0.1;
+ } else {
+ intake_goal_ = 1.6;
}
- if (data.IsPressed(kTest2)) {
+ if (data.IsPressed(kFrontLong)) {
+ // Forwards shot
shoulder_goal_ = M_PI / 2.0 - 0.2;
+ wrist_goal_ = M_PI + 0.42;
+ shooter_velocity_ = 640.0;
+ } else if (data.IsPressed(kBackLong)) {
+ // Backwards shot
+ shoulder_goal_ = M_PI / 2.0 - 0.2;
+ wrist_goal_ = -0.59;
+ shooter_velocity_ = 640.0;
} else {
+ wrist_goal_ = 0.0;
shoulder_goal_ = -0.010;
+ shooter_velocity_ = 0.0;
}
if (data.IsPressed(kTest3)) {
wrist_goal_ = 0.0;
- } else {
- // Backwards shot
- wrist_goal_ = -0.59;
- // Forwards shot
- //wrist_goal_ = M_PI + 0.42;
}
- is_intaking_ = data.IsPressed(kTest4);
+ is_intaking_ = data.IsPressed(kIntakeIn);
- if (data.IsPressed(kTest5)) {
- //shooter_velocity_ = 600.0;
- shooter_velocity_ = 640.0;
- } else {
- shooter_velocity_ = 0.0;
- }
-
- if (data.IsPressed(kTest6) && shooter_velocity_ != 0.0) {
+ if (data.IsPressed(kFire) && shooter_velocity_ != 0.0) {
fire_ = true;
} else {
fire_ = false;
@@ -183,10 +183,7 @@
if (data.PosEdge(kTest7)) {
}
- if (data.PosEdge(kTest8)) {
- }
-
- is_outtaking_ = data.IsPressed(kTest8);
+ is_outtaking_ = data.IsPressed(kIntakeOut);
if (!waiting_for_zero_) {
if (!action_queue_.Running()) {
@@ -197,13 +194,13 @@
new_superstructure_goal->max_angular_velocity_intake = 7.0;
new_superstructure_goal->max_angular_velocity_shoulder = 4.0;
- new_superstructure_goal->max_angular_velocity_wrist = 11.0;
+ new_superstructure_goal->max_angular_velocity_wrist = 10.0;
new_superstructure_goal->max_angular_acceleration_intake = 40.0;
- new_superstructure_goal->max_angular_acceleration_shoulder = 8.0;
+ new_superstructure_goal->max_angular_acceleration_shoulder = 10.0;
new_superstructure_goal->max_angular_acceleration_wrist = 25.0;
- /*
// Granny mode
+ /*
new_superstructure_goal->max_angular_velocity_intake = 0.2;
new_superstructure_goal->max_angular_velocity_shoulder = 0.2;
new_superstructure_goal->max_angular_velocity_wrist = 0.2;