commit 973b165c110ca0390935c08f96863c031cb78238
author Austin Schuh <austin.linux@gmail.com> Mon Nov 08 10:19:22 2021 -0800
committer Gerrit Code Review <gerrit@software.frc971.org> Mon Nov 08 10:19:22 2021 -0800
tree 43c691b60741e476f43f4709e2c9a8a18e5426e5
parent ab9247e077e85191f5173a8cf55392680a768779
parent fe0720102c6f8f540b56554c14acd7dc97f0551f

Merge "Quiet down joystick_reader in auto"

y2020/control_loops/superstructure/superstructure.cc

diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 4fb5c1d..b3c36f0 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -245,7 +245,8 @@
         // the climber on.
         CHECK(unsafe_goal->has_turret());
         if (std::abs(unsafe_goal->turret()->unsafe_goal() -
-                     turret_.position()) > 0.1) {
+                     turret_.position()) > 0.1 &&
+            has_turret_) {
           output_struct.climber_voltage = 0;
         }
       }

y2020/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 10b30ba..dd98e63 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -183,7 +183,7 @@
         finisher_speed = setpoint_fetcher_->finisher();
       }
     } else if (data.IsPressed(kShootSlow)) {
-      accelerator_speed = 150.0;
+      accelerator_speed = 400.0;
       finisher_speed = 200.0;
     }