commit 4fef0df5b7be53d5d2b621a3f032b824af0b10a1
author Austin Schuh <austin@peloton-tech.com> Fri Apr 17 19:29:32 2015 -0700
committer Austin Schuh <austin@peloton-tech.com> Fri Apr 17 19:29:32 2015 -0700
tree 3c23eb0b327fbd1f9e1290b7d2612d44fa0ed199
parent e301c7198874183820ed506fe39b699e8cf3ec9d

Fixed held to lift.

Change-Id: I0c71102e3ff8825097bd43f6af879fd8e58bc22c

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index c2d1b2b..966a24a 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -323,11 +323,11 @@
     // Lower the fridge from holding the stack, grab the stack, and then lift.
     if (data.PosEdge(kHeldToLift)) {
       actors::HeldToLiftParams params;
-      params.arm_clearance = kClawStackClearance;
+      params.arm_clearance = kArmRaiseLowerClearance;
       params.clamp_pause_time = 0.1;
       params.before_lift_settle_time = 0.1;
       params.bottom_height = 0.020;
-      params.claw_out_angle = kClawTotePackAngle;
+      params.claw_out_angle = kClawStackClearance;
       params.lift_params.lift_height = kStackUpHeight;
       params.lift_params.lift_arm = kStackUpArm;
       fridge_closed_ = true;