commit 9cb142195f2add9b56caa71a70dc33066595a33e
author Milind Upadhyay <milind.upadhyay@gmail.com> Fri Mar 11 21:42:35 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Fri Mar 11 21:42:35 2022 -0800
tree 24c5871176a7019704377b5096b4920829debe96
parent 877bd025f0214434e7d21702cd5f3d268ca7d556

Use setpoint in joystick reader

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I48f5b367db3c5f161e74edb20f1c4a78bfe53d7e

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index ce5c755..b5b26d1 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -182,11 +182,20 @@
     }
 
     if (data.IsPressed(kTurret)) {
-      turret_pos = -1.5;
+      if (setpoint_fetcher_.get()) {
+        turret_pos = setpoint_fetcher_->turret();
+      } else {
+        turret_pos = -1.5;
+      }
     } else {
       turret_pos = 0.0;
     }
 
+    if (setpoint_fetcher_.get()) {
+      catapult_pos = setpoint_fetcher_->catapult_position();
+      catapult_speed = setpoint_fetcher_->catapult_velocity();
+    }
+
     // Keep the catapult return position at the shot one if kCatapultPos is
     // pressed
     if (data.IsPressed(kCatapultPos)) {

y2022/setpoint_setter.cc

diff --git a/y2022/setpoint_setter.cc b/y2022/setpoint_setter.cc
index 8ec1015..7dbd4b8 100644
--- a/y2022/setpoint_setter.cc
+++ b/y2022/setpoint_setter.cc
@@ -4,8 +4,8 @@
 #include "glog/logging.h"
 #include "y2022/setpoint_generated.h"
 
-DEFINE_double(catapult_position, 0.3, "Catapult shot position");
-DEFINE_double(catapult_velocity, 15.0, "Catapult shot velocity");
+DEFINE_double(catapult_position, 0.03, "Catapult shot position");
+DEFINE_double(catapult_velocity, 18.0, "Catapult shot velocity");
 DEFINE_double(turret, 0.0, "Turret setpoint");
 
 using y2022::input::joysticks::Setpoint;