tweaked shots etc
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index 82f53b4..c3341ba 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -28,6 +28,8 @@
using ::aos::input::driver_station::JoystickAxis;
using ::aos::input::driver_station::ControlBit;
+#define ENABLE_HUMAN 0
+
namespace frc971 {
namespace input {
namespace joysticks {
@@ -55,6 +57,9 @@
const ButtonLocation kLongShot(3, 7);
const ButtonLocation kMediumShot(3, 6);
const ButtonLocation kShortShot(3, 2);
+#if ENABLE_HUMAN
+// Currently human player shot.
+#endif
const ButtonLocation kTrussShot(3, 1);
const JoystickAxis kAdjustClawGoal(3, 2);
@@ -79,8 +84,8 @@
const double kShootSeparation = 0.11 + kGrabSeparation;
const ClawGoal kTuckGoal = {-2.273474, -0.749484};
-const ClawGoal kIntakeGoal = {-2.273474, kGrabSeparation};
-const ClawGoal kIntakeOpenGoal = {-2.0, 1.2};
+const ClawGoal kIntakeGoal = {-2.24, kGrabSeparation};
+const ClawGoal kIntakeOpenGoal = {-2.0, 1.1};
// TODO(austin): Tune these by hand...
const ClawGoal kFlippedTuckGoal = {2.733474, -0.75};
@@ -89,10 +94,10 @@
// 34" between near edge of colored line and rear edge of bumper
const ShotGoal kLongShotGoal = {
- {-1.06, kShootSeparation}, 140, 0.04, kIntakePower};
+ {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
// 3/4" plunger {-1.04, kShootSeparation}, 140, 0.04, kIntakePower};
const ShotGoal kFlippedLongShotGoal = {
- {0.90, kShootSeparation}, 140, 0.09, kIntakePower};
+ {0.96, kShootSeparation}, 140, 0.09, kIntakePower};
// 3/4 " plunger {0.97, kShootSeparation}, 140, 0.08, kIntakePower};
// 78" between near edge of colored line and rear edge of bumper
@@ -100,16 +105,21 @@
{-0.95, kShootSeparation}, 105, 0.2, kIntakePower};
// 3/4" plunger {-0.90, kShootSeparation}, 105, 0.2, kIntakePower};
const ShotGoal kFlippedMediumShotGoal = {
- {0.80, kShootSeparation}, 105, 0.2, kIntakePower};
+ {0.905, kShootSeparation}, 120, 0.2, kIntakePower};
// 3/4" plunger {0.80, kShootSeparation}, 105, 0.2, kIntakePower};
const ShotGoal kShortShotGoal = {
- {-0.670, kShootSeparation}, 72.0, 0.4, kIntakePower};
+ {-0.670, kShootSeparation}, 77.0, 0.4, kIntakePower};
const ShotGoal kFlippedShortShotGoal = {
- {0.57, kShootSeparation}, 82.0, 0.4, kIntakePower};
+ {0.67, kShootSeparation}, 115.0, 0.4, kIntakePower};
+#if ENABLE_HUMAN
+const ShotGoal kHumanShotGoal = {
+ {-0.90, kShootSeparation}, 140, 0.04, kIntakePower};
+#else
const ShotGoal kTrussShotGoal = {
{-0.05, kShootSeparation}, 73.0, 0, kIntakePower};
+#endif
// Makes a new ShootAction action.
::std::unique_ptr<TypedAction< ::frc971::actions::CatchActionGroup>>
@@ -348,7 +358,11 @@
} else if (data.PosEdge(kTrussShot)) {
action_queue_.CancelAllActions();
LOG(DEBUG, "Canceling\n");
+#if ENABLE_HUMAN
+ SetGoal(kHumanShotGoal);
+#else
SetGoal(kTrussShotGoal);
+#endif
}
} else {
if (data.IsPressed(kIntakeOpenPosition)) {
@@ -378,7 +392,11 @@
} else if (data.PosEdge(kTrussShot)) {
action_queue_.CancelAllActions();
LOG(DEBUG, "Canceling\n");
+#if ENABLE_HUMAN
+ SetGoal(kHumanShotGoal);
+#else
SetGoal(kTrussShotGoal);
+#endif
}
}