commit 6bbf5dcb05c2ef5e2a0e31ff361b94c0b53059f7
author Austin Schuh <austin.linux@gmail.com> Sat Mar 12 22:26:18 2022 -0800
committer Gerrit Code Review <gerrit@software.frc971.org> Sat Mar 12 22:26:18 2022 -0800
tree 526b0cab0d8242189b9d759ff570f187395a73d1
parent 771699c6c572362fff10dccb2a0820b213e890e4
parent 9a4ae577cc04d086b02d7cdf0923816632fe8d46

Merge "Add a spit button"

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 2f707d7..8423f47 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -37,15 +37,15 @@
 
 namespace superstructure = y2022::control_loops::superstructure;
 
-// TODO(henry) put actually button locations here
-// TODO(milind): integrate with shooting statemachine and aimer
 #if 0
 const ButtonLocation kCatapultPos(4, 3);
 const ButtonLocation kFire(3, 4);
 const ButtonLocation kTurret(4, 15);
+const ButtonLocation kAutoAim(4, 2);
 
 const ButtonLocation kIntakeFrontOut(4, 10);
 const ButtonLocation kIntakeBackOut(4, 9);
+const ButtonLocation kSpit(3, 3);
 
 const ButtonLocation kRedLocalizerReset(3, 13);
 const ButtonLocation kBlueLocalizerReset(3, 14);
@@ -55,10 +55,11 @@
 const ButtonLocation kCatapultPos(4, 3);
 const ButtonLocation kFire(4, 1);
 const ButtonLocation kTurret(4, 15);
-const ButtonLocation kAutoAim(3, 3);
+const ButtonLocation kAutoAim(4, 2);
 
 const ButtonLocation kIntakeFrontOut(4, 10);
 const ButtonLocation kIntakeBackOut(4, 9);
+const ButtonLocation kSpit(3, 3);
 
 const ButtonLocation kRedLocalizerReset(4, 14);
 const ButtonLocation kBlueLocalizerReset(4, 13);
@@ -208,22 +209,29 @@
     }
 
     constexpr double kRollerSpeed = 8.0;
+    constexpr double kTransferRollerSpeed = 12.0;
     constexpr double kIntakePosition = -0.02;
     constexpr size_t kIntakeCounterIterations = 25;
 
     // Extend the intakes and spin the rollers
     if (data.IsPressed(kIntakeFrontOut)) {
       intake_front_pos = kIntakePosition;
-      transfer_roller_front_speed = 12.0;
-      transfer_roller_back_speed = -transfer_roller_front_speed;
+      transfer_roller_front_speed = kTransferRollerSpeed;
+      transfer_roller_back_speed = -kTransferRollerSpeed;
 
       intake_front_counter_ = kIntakeCounterIterations;
     } else if (data.IsPressed(kIntakeBackOut)) {
       intake_back_pos = kIntakePosition;
-      transfer_roller_back_speed = 12.0;
-      transfer_roller_front_speed = -transfer_roller_back_speed;
+      transfer_roller_back_speed = kTransferRollerSpeed;
+      transfer_roller_front_speed = -kTransferRollerSpeed;
 
       intake_back_counter_ = kIntakeCounterIterations;
+    } else if (data.IsPressed(kSpit)) {
+      transfer_roller_front_speed = -kTransferRollerSpeed;
+      transfer_roller_back_speed = -kTransferRollerSpeed;
+
+      intake_front_counter_ = 0;
+      intake_back_counter_ = 0;
     }
 
     // Keep spinning the rollers a bit after they let go