Adjusted shot powers to give us a human player shot.
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 1217463..32ab317 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -48,9 +48,7 @@
const ButtonLocation kTuck(3, 4);
const ButtonLocation kIntakePosition(3, 5);
const ButtonLocation kIntakeOpenPosition(3, 11);
-//const ButtonLocation kFlipRobot(3, 7);
const JoystickAxis kFlipRobot(3, 3);
-// Truss shot. (3, 1)
const ButtonLocation kLongShot(3, 7);
const ButtonLocation kMediumShot(3, 6);
@@ -84,16 +82,16 @@
//const ShotGoal kLongShotGoal = {
//{-M_PI / 2.0 + 0.46, kShootSeparation}, 120, false, kIntakePower};
const ShotGoal kLongShotGoal = {
- {-M_PI / 2.0 + 0.46, kShootSeparation}, 120, false, kIntakePower};
+ {-0.60, kShootSeparation}, 80, false, kIntakePower};
const ShotGoal kMediumShotGoal = {
- {-0.95, kShootSeparation}, 95, true, kIntakePower};
+ {-0.90, kShootSeparation}, 105, true, kIntakePower};
const ShotGoal kShortShotGoal = {
{-0.670, kShootSeparation}, 71.0, false, kIntakePower};
const ShotGoal kTrussShotGoal = {
{-0.05, kShootSeparation}, 61.0, false, kIntakePower};
const ShotGoal kFlippedLongShotGoal = {
- {M_PI / 2.0 - 0.43, kShootSeparation}, 145, false, kIntakePower};
+ {0.55, kShootSeparation}, 80, false, kIntakePower};
const ShotGoal kFlippedMediumShotGoal = {
{0.85, kShootSeparation}, 105, true, kIntakePower};
const ShotGoal kFlippedShortShotGoal = {
@@ -281,6 +279,7 @@
}
if (data.IsPressed(kRollersIn) || data.IsPressed(kRollersOut)) {
intake_power_ = 0.0;
+ separation_angle_ = 0.0;
}
if (data.GetAxis(kFlipRobot) < 0.5) {