Add code to intake a cube
Voltage is flipped for cubes.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I16b07e4c6b21a173c10fa682f39103aff8aa9379
diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index 58f7df1..92f79d8 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -47,6 +47,7 @@
const ButtonLocation kGroundPickupConeUp(4, 7);
const ButtonLocation kGroundPickupConeDown(4, 8);
+const ButtonLocation kGroundPickupCube(4, 10);
const ButtonLocation kHPConePickup(4, 6);
const ButtonLocation kSuck(4, 12);
@@ -152,11 +153,14 @@
std::optional<double> score_wrist_goal = std::nullopt;
if (data.IsPressed(kGroundPickupConeUp) || data.IsPressed(kHPConePickup)) {
- roller_goal = RollerGoal::INTAKE;
+ roller_goal = RollerGoal::INTAKE_CONE;
current_game_piece_ = GamePiece::CONE_UP;
} else if (data.IsPressed(kGroundPickupConeDown)) {
- roller_goal = RollerGoal::INTAKE;
+ roller_goal = RollerGoal::INTAKE_CONE;
current_game_piece_ = GamePiece::CONE_DOWN;
+ } else if (data.IsPressed(kGroundPickupCube)) {
+ roller_goal = RollerGoal::INTAKE_CUBE;
+ current_game_piece_ = GamePiece::CUBE;
}
// Search for the active setpoint.
@@ -172,7 +176,7 @@
}
if (data.IsPressed(kSuck)) {
- roller_goal = RollerGoal::INTAKE;
+ roller_goal = RollerGoal::INTAKE_LAST;
} else if (data.IsPressed(kSpit)) {
if (score_wrist_goal.has_value()) {
wrist_goal = score_wrist_goal.value();