commit 6a8131ba5d6a3512d97c705f225f0700942f66c2
author Austin Schuh <austin.linux@gmail.com> Sat Apr 08 15:39:22 2017 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Apr 09 18:04:05 2017 -0700
tree 72cd10c8765e87e2dcc2d9a643db4786502a716a
parent 8e3ac0febb6062809e9a82dd4ee3bbeb54866c5e

Servo now routed for gear.

Change-Id: Ifee31cb80bbdfbcf4ef900fe701f578987e9d7e5

y2017/joystick_reader.cc

diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 246150f..acb21a7 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -226,6 +226,13 @@
     new_superstructure_goal->hood.angle = hood_goal_;
     new_superstructure_goal->shooter.angular_velocity = shooter_velocity_;
 
+    if (data.IsPressed(kIntakeUp)) {
+      new_superstructure_goal->intake.gear_servo = 0.37;
+    } else {
+      // Clamp the gear
+      new_superstructure_goal->intake.gear_servo = 0.64;
+    }
+
     new_superstructure_goal->intake.profile_params.max_velocity = 0.50;
     new_superstructure_goal->hood.profile_params.max_velocity = 5.0;