commit 834a0da255d156f3f069fb78de68dd901d76393f
author Brian Silverman <brians> Sat Mar 16 23:49:27 2013 -0700
committer Brian Silverman <brians> Sat Mar 30 16:35:10 2013 -0700
tree d3a65d23e73fcbb997e2a4b460e40c69c35e9b9c
parent 23a67cacea67ea1fd2356e7b37d8b5d22d5891db

new joysticks etc

frc971/input/JoystickReader.cc

diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index b4cc5c3..dc3575d 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -52,6 +52,7 @@
       double right_goal = 0.0;
       const double wheel = control_data_.stick0Axis1 / 127.0;
       const double throttle = -control_data_.stick1Axis2 / 127.0;
+      LOG(DEBUG, "wheel %f throttle %f\n", wheel, throttle);
       const double kThrottleGain = 1.0 / 2.5;
       if (Pressed(0, 7) || Pressed(0, 11)) {
         static double distance = 0.0;
@@ -117,17 +118,17 @@
         }
       }
       wrist.goal.MakeWithBuilder()
-          .goal(Pressed(2, 10) ? wrist_down_position : kWristUp).Send();
+          .goal(Pressed(2, 8) ? wrist_down_position : kWristUp).Send();
 
       ::aos::ScopedMessagePtr<control_loops::ShooterLoop::Goal> shooter_goal =
           shooter.goal.MakeMessage();
       shooter_goal->velocity = 0;
-      static double angle_adjust_goal = 0;
-      if (Pressed(2, 3)) {
+      static double angle_adjust_goal = 0.42;
+      if (Pressed(2, 5)) {
         // short shot
         shooter_goal->velocity = 200;
         angle_adjust_goal = 0.42;
-      } else if (Pressed(2, 5)) {
+      } else if (Pressed(2, 3)) {
         // medium shot
         shooter_goal->velocity = 220;
         angle_adjust_goal = 0.45;
@@ -147,7 +148,7 @@
       } else if (shooter_goal->velocity != 0) {
         // get ready to shoot
         index_goal->goal_state = 3;
-      } else if (Pressed(2, 9)) {
+      } else if (Pressed(2, 10)) {
         // intake
         index_goal->goal_state = 2;
       } else {