Add simple auto-aim button
Change-Id: I34fd1af15ef29858e4f880bf10b17b1c3508ca41
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index de37ebe..4b2f082 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -55,12 +55,13 @@
const ButtonLocation kCatapultPos(4, 3);
const ButtonLocation kFire(4, 1);
const ButtonLocation kTurret(4, 15);
+const ButtonLocation kAutoAim(3, 3);
const ButtonLocation kIntakeFrontOut(4, 10);
const ButtonLocation kIntakeBackOut(4, 9);
-const ButtonLocation kRedLocalizerReset(3, 13);
-const ButtonLocation kBlueLocalizerReset(3, 14);
+const ButtonLocation kRedLocalizerReset(4, 13);
+const ButtonLocation kBlueLocalizerReset(4, 14);
const ButtonLocation kLocalizerReset(3, 8);
#endif
@@ -105,8 +106,8 @@
frc971::control_loops::drivetrain::LocalizerControl::Builder
localizer_control_builder = builder.MakeBuilder<
frc971::control_loops::drivetrain::LocalizerControl>();
- localizer_control_builder.add_x(-7.4);
- localizer_control_builder.add_y(1.7);
+ localizer_control_builder.add_x(-7.9);
+ localizer_control_builder.add_y(0.7);
localizer_control_builder.add_theta_uncertainty(10.0);
localizer_control_builder.add_theta(M_PI);
localizer_control_builder.add_keep_current_theta(false);
@@ -285,6 +286,8 @@
transfer_roller_front_speed);
superstructure_goal_builder.add_transfer_roller_speed_back(
transfer_roller_back_speed);
+ superstructure_goal_builder.add_auto_aim(
+ data.IsPressed(kAutoAim));
if (builder.Send(superstructure_goal_builder.Finish()) !=
aos::RawSender::Error::kOk) {