commit 6a871fff60f3166a5c4c317c90d3c9d57fd2360d
author Austin Schuh <austin.linux@gmail.com> Sun May 01 12:31:23 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri May 13 20:24:51 2016 -0700
tree 7b74be271be065f56fbff25e22eda46242593e20
parent 0c001a89d4bbd54d643714539e926264b4d68759

Tuned shots and added a backup higher forward shot.

Change-Id: I5471a30f450df314252bb8adc8bed1078e9bafd9

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index e1e0c9b..45733ff 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -222,7 +222,7 @@
     if (data.IsPressed(kFrontLong)) {
       // Forwards shot
       shoulder_goal_ = M_PI / 2.0 + 0.1;
-      wrist_goal_ = M_PI + 0.41 + 0.02;
+      wrist_goal_ = M_PI + 0.41 + 0.02 - 0.005;
       if (drivetrain_queue.status.get()) {
         wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
@@ -239,15 +239,18 @@
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kBackFender)) {
       // Fender shot back
-      shoulder_goal_ = 0.65;
-      wrist_goal_ = -1.20;
-      shooter_velocity_ = 550.0;
+      shoulder_goal_ = M_PI / 2.0 - 0.2;
+      wrist_goal_ = -0.55;
+      shooter_velocity_ = 600.0;
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kFrontFender)) {
-      // Fender shot back
-      shoulder_goal_ = 1.45;
-      wrist_goal_ = 2.5 + 1.7;
-      shooter_velocity_ = 550.0;
+      // Forwards shot, higher
+      shoulder_goal_ = M_PI / 2.0 + 0.1;
+      wrist_goal_ = M_PI + 0.41 + 0.02 + 0.020;
+      if (drivetrain_queue.status.get()) {
+        wrist_goal_ += drivetrain_queue.status->ground_angle;
+      }
+      shooter_velocity_ = 640.0;
       intake_goal_ = intake_when_shooting;
     } else if (data.IsPressed(kExpand) || data.IsPressed(kWinch)) {
       // Set the goals to the hanging position so when the actor finishes, we