commit 90f2854b870b96da05b5ed5481024d0d9057c51c
author Austin Schuh <austin.linux@gmail.com> Sun Mar 29 13:46:03 2015 -0700
committer Brian Silverman <brians> Mon Mar 30 14:21:50 2015 -0400
tree 735968108efaa4df0ed37437adb1464c13ca9b80
parent 67efa4c4f7a0edaf60b9c2513fd9c074055c6876

Sped up vertical can pickup

Change-Id: Ifec45b19f8000ae246fbd793350efca737249bc0

frc971/joystick_reader.cc

diff --git a/frc971/joystick_reader.cc b/frc971/joystick_reader.cc
index f318aa7..474e2fd 100644
--- a/frc971/joystick_reader.cc
+++ b/frc971/joystick_reader.cc
@@ -235,10 +235,13 @@
     // Vertical can pickup.
     if (data.PosEdge(kCanPickup)) {
       actors::CanPickupParams params;
-      params.pickup_angle = -0.93;
-      params.pickup_height = 0.265;
-      params.lift_height = 0.65;
+      params.pickup_x = 0.6;
+      params.pickup_y = 0.1;
+      params.lift_height = 0.2;
+      params.pickup_goal_before_move_height = 0.3;
+      params.start_lowering_x = 0.1;
       // End low so the can is supported.
+      params.before_place_height = 0.4;
       params.end_height = 0.3;
       params.end_angle = 0.0;
       action_queue_.EnqueueAction(actors::MakeCanPickupAction(params));