commit 697d07bb629e211f543f935fd11f0987fc6fe780
author Brian Silverman <brians> Thu Mar 19 23:41:11 2015 -0700
committer Brian Silverman <brians> Fri Mar 27 22:53:20 2015 -0400
tree 929f3836993dbc8ff5cf3f50ca09d73db231cb4e
parent cb615cff50b15b45ba415207e6d3275227dc1fae

make stacking faster

Change-Id: I78e5159cbf014551c6e561c702070478a01c4dc8

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index 4ff9684..0d47606 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -109,6 +109,9 @@
 const double kClawTotePackAngle = 0.95;
 const double kArmRaiseLowerClearance = -0.08;
 
+const double kStackUpHeight = 0.55;
+const double kStackUpArm = 0.1;
+
 class Reader : public ::aos::input::JoystickInput {
  public:
   Reader() : was_running_(false) {}
@@ -265,8 +268,8 @@
 
       params.grab_after_stack = true;
       params.clamp_pause_time = 0.1;
-      params.lift_params.lift_height = 0.45;
-      params.lift_params.lift_arm = 0.3;
+      params.lift_params.lift_height = kStackUpHeight;
+      params.lift_params.lift_arm = kStackUpArm;
       params.grab_after_lift = true;
       fridge_closed_ = true;
 
@@ -308,8 +311,8 @@
       params.before_lift_settle_time = 0.1;
       params.bottom_height = 0.020;
       params.claw_out_angle = 0.6;
-      params.lift_params.lift_height = 0.45;
-      params.lift_params.lift_arm = 0.3;
+      params.lift_params.lift_height = kStackUpHeight;
+      params.lift_params.lift_arm = kStackUpArm;
       fridge_closed_ = true;
 
       action_queue_.EnqueueAction(actors::MakeHeldToLiftAction(params));
@@ -320,6 +323,8 @@
       actors::LiftParams params;
       params.lift_height = 0.68;
       params.lift_arm = 0.3;
+      params.pack_claw = false;
+      params.pack_claw_angle = 0;
       fridge_closed_ = true;
 
       action_queue_.EnqueueAction(actors::MakeLiftAction(params));