commit 8d5dda419b9607bedabe5546a63f0703d91af7c8
author Brian Silverman <brians> Sun Apr 06 15:59:49 2014 -0700
committer Brian Silverman <brians> Sun Apr 06 15:59:49 2014 -0700
tree 10d911deea5fbfd39f6f6b298f8fe3dcac3f752f
parent 68c0fd6c16663d29d791ecc3c9d6a6d9ecb23c9e

tweaked shots

frc971/input/joystick_reader.cc

diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index afa602e..4c3d1bb 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -118,9 +118,12 @@
 const ShotGoal kFlippedHumanShotGoal = {
     {0.90, kShootSeparation}, 140, 0, kIntakePower};
 const ShotGoal kTrussShotGoal = {
-    {-0.68, kShootSeparation}, 77.0, 0.4, kIntakePower};
+    {-0.68, kShootSeparation}, 83.0, 0.4, kIntakePower};
 const ShotGoal kFlippedTrussShotGoal = {
-    {0.68, kShootSeparation}, 77.0, 0.4, kIntakePower};
+    {0.68, kShootSeparation}, 92.0, 0.4, kIntakePower};
+
+const ClawGoal k254PassGoal = {-1.95, kGrabSeparation};
+const ClawGoal kFlipped254PassGoal = {1.96, kGrabSeparation};
 
 // Makes a new ShootAction action.
 ::std::unique_ptr<TypedAction< ::frc971::actions::CatchActionGroup>>
@@ -368,6 +371,10 @@
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
         SetGoal(kFlippedHumanShotGoal);
+      } else if (data.PosEdge(kUserLeft)) {
+        action_queue_.CancelAllActions();
+        LOG(DEBUG, "Canceling\n");
+        SetGoal(kFlipped254PassGoal);
       } else if (data.PosEdge(kTrussShot)) {
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
@@ -406,6 +413,10 @@
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");
         SetGoal(kHumanShotGoal);
+      } else if (data.PosEdge(kUserLeft)) {
+        action_queue_.CancelAllActions();
+        LOG(DEBUG, "Canceling\n");
+        SetGoal(k254PassGoal);
       } else if (data.PosEdge(kTrussShot)) {
         action_queue_.CancelAllActions();
         LOG(DEBUG, "Canceling\n");