commit 8cd51201b1ac6aa6872e7af3469abe80bd63d00f
author Brian Silverman <brians> Sat Jul 19 16:58:08 2014 -0700
committer Brian Silverman <brians> Sat Jul 19 16:58:08 2014 -0700
tree 4c9760ae268d85a64e9b1dbfa6db0a182ee81e96
parent 4051c6fcd32b44c3e22c57939a3345871a9dd253

added a demo shot

frc971/input/joystick_reader.cc

diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index a639c88..919963a 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -124,6 +124,11 @@
 const ShotGoal kFlippedTrussShotGoal = {
     {0.68, kShootSeparation}, 92.0, 0.4, kIntakePower};
 
+const ShotGoal kFlippedDemoShotGoal = {
+    {1.0, kShootSeparation}, 65.0, 0.0, kIntakePower};
+const ShotGoal kDemoShotGoal = {
+    {-1.0, kShootSeparation}, 50.0, 0.0, kIntakePower};
+
 const ClawGoal k254PassGoal = {-1.95, kGrabSeparation};
 const ClawGoal kFlipped254PassGoal = {1.96, kGrabSeparation};
 
@@ -399,6 +404,10 @@
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
         SetGoal(kFlipped254PassGoal);
+      } else if (data.PosEdge(kUserRight)) {
+        action_queue_.CancelAllActions();
+        LOG(DEBUG, "Canceling\n");
+        SetGoal(kFlippedDemoShotGoal);
       } else if (data.PosEdge(kTrussShot)) {
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
@@ -441,6 +450,10 @@
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
         SetGoal(k254PassGoal);
+      } else if (data.PosEdge(kUserRight)) {
+        action_queue_.CancelAllActions();
+        LOG(DEBUG, "Canceling\n");
+        SetGoal(kDemoShotGoal);
       } else if (data.PosEdge(kTrussShot)) {
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");