Stop ejecting balls out the top of the robot
Since we turned up the current, we don't need as much voltage. The
extra voltage is causing the balls to pop out the top of the robot.
Slow down the voltage compensation too.
Change-Id: I36d2b261c823b0bd234fd3adeddc8990cb68d5f5
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index b92126a..c6c313b 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -153,7 +153,7 @@
double intake_pos = -0.89;
double turret_pos = 0.0;
float roller_speed = 0.0f;
- float roller_speed_compensation = 0.0f;
+ bool roller_speed_compensation = false;
double accelerator_speed = 0.0;
double finisher_speed = 0.0;
double climber_speed = 0.0;
@@ -192,7 +192,7 @@
if (data.IsPressed(kIntakeExtend) || data.IsPressed(kIntakeExtendDriver)) {
intake_pos = 1.2;
roller_speed = 7.0f;
- roller_speed_compensation = 2.0f;
+ roller_speed_compensation = true;
preload_intake = true;
}
@@ -200,12 +200,12 @@
superstructure_status_fetcher_->intake()->zeroed() &&
superstructure_status_fetcher_->intake()->position() > -0.5) {
roller_speed = std::max(roller_speed, 6.0f);
- roller_speed_compensation = 2.0f;
+ roller_speed_compensation = true;
}
if (data.IsPressed(kIntakeIn)) {
- roller_speed = 6.0f;
- roller_speed_compensation = 2.0f;
+ roller_speed = 5.0f;
+ roller_speed_compensation = true;
preload_intake = true;
} else if (data.IsPressed(kSpit)) {
roller_speed = -6.0f;
@@ -276,7 +276,7 @@
superstructure_goal_builder.add_turret(turret_offset);
superstructure_goal_builder.add_roller_voltage(roller_speed);
superstructure_goal_builder.add_roller_speed_compensation(
- roller_speed_compensation);
+ roller_speed_compensation ? 1.5f : 0.0f);
superstructure_goal_builder.add_shooter(shooter_offset);
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed) ||
data.IsPressed(kFeedDriver));