commit 8c65c430aa136c58935249f98ca47a7bcd777d4f
author Ravago Jones <ravagojones@gmail.com> Sat Mar 25 17:35:39 2023 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Apr 08 18:11:16 2023 -0700
tree 2a9b010cc97e347c410baf1c6e9e605b35fcfd14
parent 013954957aeaa1927d4f6f4fa9b9110d85074fb3

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

y2023/joystick_reader.cc

diff --git a/y2023/joystick_reader.cc b/y2023/joystick_reader.cc
index efd7537..dcba253 100644
--- a/y2023/joystick_reader.cc
+++ b/y2023/joystick_reader.cc
@@ -16,6 +16,7 @@
 #include "frc971/input/driver_station_data.h"
 #include "frc971/input/drivetrain_input.h"
 #include "frc971/input/joystick_input.h"
+#include "frc971/input/redundant_joystick_data.h"
 #include "frc971/zeroing/wrap.h"
 #include "y2023/constants.h"
 #include "y2023/control_loops/drivetrain/drivetrain_base.h"
@@ -46,7 +47,7 @@
 constexpr double kCubeWrist = 1.0;
 
 // TODO(milind): add correct locations
-const ButtonLocation kDriverSpit(2, 1);
+const ButtonLocation kDriverSpit(1, 1);
 const ButtonLocation kSpit(4, 13);
 
 const ButtonLocation kHighConeScoreLeft(4, 14);
@@ -369,7 +370,8 @@
       : ::frc971::input::ActionJoystickInput(
             event_loop,
             ::y2023::control_loops::drivetrain::GetDrivetrainConfig(),
-            ::frc971::input::DrivetrainInputReader::InputType::kPistol, {}),
+            ::frc971::input::DrivetrainInputReader::InputType::kPistol,
+            {.use_redundant_joysticks = true}),
         superstructure_goal_sender_(
             event_loop->MakeSender<superstructure::Goal>("/superstructure")),
         target_selector_hint_sender_(
@@ -519,7 +521,7 @@
 
       superstructure::Goal::Builder superstructure_goal_builder =
           builder.MakeBuilder<superstructure::Goal>();
-      superstructure_goal_builder.add_arm_goal_position(arm_goal_position_);
+      superstructure_goal_builder.add_arm_goal_position(arm::NeutralIndex());
       superstructure_goal_builder.add_roller_goal(roller_goal);
       superstructure_goal_builder.add_wrist(wrist_offset);
       if (builder.Send(superstructure_goal_builder.Finish()) !=