Tune speaker & shuttle shots
Includes ability to have more "stable" auto-aim shuttle shot that does
not rely on x/y of localizer.
Change-Id: I6b76cd8f8436b61bb2f40966dfa8e28a44e85297
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index 2fb75c2..711f9d2 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -63,6 +63,7 @@
const ButtonLocation kRaiseClimber(3, 2);
const ButtonLocation kRaiseFastClimber(3, 1);
const ButtonLocation kAimShuttle(2, 10);
+const ButtonLocation kTurretShuttle(1, 10);
const ButtonLocation kExtraButtonTwo(0, 0);
const ButtonLocation kExtraButtonThree(0, 0);
const ButtonLocation kExtraButtonFour(0, 0);
@@ -145,6 +146,9 @@
} else if (data.IsPressed(kAimShuttle)) {
shooter_goal->set_auto_aim(
control_loops::superstructure::AutoAimMode::SHUTTLE);
+ } else if (data.IsPressed(kTurretShuttle)) {
+ shooter_goal->set_auto_aim(
+ control_loops::superstructure::AutoAimMode::TURRET_SHUTTLE);
}
// Updating aiming for shooter goal, only one type of aim should be possible