commit 7992d6ec4abf8cc6e338384fe6b2bccd5296f708
author Brian Silverman <brians> Sun Mar 24 19:20:54 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:13 2013 -0700
tree 10412fca36ca18dee8821db3daa03869703f0a31
parent 7f09f978f6a02e7c6034e7507283069523369157

more changes from Davis

frc971/input/JoystickReader.cc

diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index 092ae11..ac8017f 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -119,9 +119,10 @@
       shooter_goal->velocity = 0;
       static double angle_adjust_goal = 0.42;
       if (Pressed(2, 5)) {
-        // long shot
-        shooter_goal->velocity = 131;
-        angle_adjust_goal = 0.70;
+        // middle wheel on the back line (same as auto)
+        shooter_goal->velocity = 410;
+        wrist_up_position = 1.23 - 0.4;
+        angle_adjust_goal = 0.5101;
       } else if (Pressed(2, 3)) {
         // medium shot
 #if 0
@@ -130,13 +131,17 @@
         angle_adjust_goal = 0.564;
 #endif
         // middle wheel on the back line (same as auto)
-        shooter_goal->velocity = 410;
+        shooter_goal->velocity = 400;
         wrist_up_position = 1.23 - 0.4;
-        angle_adjust_goal = 0.5101;
+        angle_adjust_goal = 0.5434;
       } else if (Pressed(2, 6)) {
         // short shot
         shooter_goal->velocity = 375;
         angle_adjust_goal = 0.7267;
+      } else if (Pressed(2, 9)) {
+        // pit shot
+        shooter_goal->velocity = 131;
+        angle_adjust_goal = 0.70;
       }
       angle_adjust.goal.MakeWithBuilder().goal(angle_adjust_goal).Send();