Add logic to read out of order joysticks
If joysticks get out of order on the driverstation, we won't
get the wrong inputs.
The id is encoded as a two bit number in buttons 14 and 15.
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I569ad6a991c4fda1596aba85b4b697da9c2ecab9
diff --git a/y2023/constants.h b/y2023/constants.h
index f404472..2f16f1a 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -121,9 +121,7 @@
// Wrist
static constexpr double kWristEncoderCountsPerRevolution() { return 4096.0; }
- static constexpr double kCompWristEncoderRatio() {
- return 1.0;
- }
+ static constexpr double kCompWristEncoderRatio() { return 1.0; }
static constexpr double kPracticeWristEncoderRatio() {
return (24.0 / 36.0) * (36.0 / 60.0);
}
@@ -172,7 +170,7 @@
}
// if true, tune down all the arm constants for testing.
- static constexpr bool kArmGrannyMode() { return false; }
+ static constexpr bool kArmGrannyMode() { return true; }
// the operating voltage.
static constexpr double kArmOperatingVoltage() {