commit 5b27f022f74fff214be8ab28662141a1efcfdfc2
author Campbell Crowley <mail@campbellcrowley.com> Sat Feb 20 16:55:35 2016 -0800
committer Campbell Crowley <mail@campbellcrowley.com> Sat Feb 20 17:22:24 2016 -0800
tree 6988fee4a31612d905bb2f008e62c3c06cf0eed3
parent eb16fa4882defcb34a11c91bad9c9ce33ab3304f

Fix incorrect high/low gear in joystick

Change-Id: I77710d2935a3e0a1d8a97da9ccbc21fa171ab31d

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index c50b092..71f4ff2 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -27,7 +27,7 @@
 namespace joysticks {
 
 const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
-const ButtonLocation kShiftHigh(2, 1), kShiftLow(2, 3);
+const ButtonLocation kShiftHigh(2, 3), kShiftHigh2(2, 2), kShiftLow(2, 1);
 const ButtonLocation kQuickTurn(1, 5);
 
 class Reader : public ::aos::input::JoystickInput {
@@ -75,11 +75,11 @@
       LOG(WARNING, "sending stick values failed\n");
     }
 
-    if (data.PosEdge(kShiftHigh)) {
+    if (data.PosEdge(kShiftLow)) {
       is_high_gear_ = false;
     }
 
-    if (data.PosEdge(kShiftLow)) {
+    if (data.PosEdge(kShiftHigh) || data.PosEdge(kShiftHigh2)) {
       is_high_gear_ = true;
     }
   }