commit a8de4a6d7001c25edc78fefee840efc0d96d0467
author Austin Schuh <austin.linux@gmail.com> Mon Sep 03 18:04:28 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Sep 16 16:42:04 2018 -0700
tree 5762c288c3151f6b06f973b31f264d4bd567ab90
parent d597435a15b1ed630044194a3685b0159623217a

Flip front/back and use team number for IP address

We tend to go to backwards buttons more often, and it's slightly more
natural to have front buttons on the left, so switch front/back

Also, both robots were controlling the 10.9.71.179 camera.  Point
them now at robot specific IP addresses.

Change-Id: I0b1c0152f62edae0453d44a614b927c40a4daf2e

y2018/joystick_reader.cc

diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 173e6ef..45b7302 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -3,10 +3,12 @@
 #include <string.h>
 #include <unistd.h>
 #include <mutex>
+#include <google/protobuf/stubs/stringprintf.h>
 
 #include "aos/common/actions/actions.h"
 #include "aos/common/input/driver_station_data.h"
 #include "aos/common/logging/logging.h"
+#include "aos/common/network/team_number.h"
 #include "aos/common/stl_mutex.h"
 #include "aos/common/time.h"
 #include "aos/common/util/log_interval.h"
@@ -41,6 +43,7 @@
 namespace joysticks {
 
 namespace arm = ::y2018::control_loops::superstructure::arm;
+using google::protobuf::StringPrintf;
 
 const ButtonLocation kIntakeClosed(3, 2);
 const ButtonLocation kDuck(3, 9);
@@ -49,19 +52,19 @@
 const ButtonLocation kIntakeIn(3, 4);
 const ButtonLocation kIntakeOut(3, 3);
 
-const ButtonLocation kArmFrontHighBox(4, 11);
-const ButtonLocation kArmFrontExtraHighBox(4, 1);
-const ButtonLocation kArmFrontMiddle2Box(4, 9);
-const ButtonLocation kArmFrontMiddle1Box(4, 7);
-const ButtonLocation kArmFrontLowBox(4, 5);
-const ButtonLocation kArmFrontSwitch(3, 7);
+const ButtonLocation kArmBackHighBox(4, 11);
+const ButtonLocation kArmBackExtraHighBox(4, 1);
+const ButtonLocation kArmBackMiddle2Box(4, 9);
+const ButtonLocation kArmBackMiddle1Box(4, 7);
+const ButtonLocation kArmBackLowBox(4, 5);
+const ButtonLocation kArmBackSwitch(3, 7);
 
-const ButtonLocation kArmBackHighBox(4, 12);
-const ButtonLocation kArmBackExtraHighBox(3, 14);
-const ButtonLocation kArmBackMiddle2Box(4, 10);
-const ButtonLocation kArmBackMiddle1Box(4, 8);
-const ButtonLocation kArmBackLowBox(4, 6);
-const ButtonLocation kArmBackSwitch(3, 10);
+const ButtonLocation kArmFrontHighBox(4, 12);
+const ButtonLocation kArmFrontExtraHighBox(3, 14);
+const ButtonLocation kArmFrontMiddle2Box(4, 10);
+const ButtonLocation kArmFrontMiddle1Box(4, 8);
+const ButtonLocation kArmFrontLowBox(4, 6);
+const ButtonLocation kArmFrontSwitch(3, 10);
 
 const ButtonLocation kArmAboveHang(3, 15);
 const ButtonLocation kArmBelowHang(3, 16);
@@ -86,10 +89,15 @@
 
 class Reader : public ::aos::input::JoystickInput {
  public:
-  Reader() : video_tx_("10.9.71.179", 5000) {
+  Reader() {
+    const uint16_t team = ::aos::network::GetTeamNumber();
+
     drivetrain_input_reader_ = DrivetrainInputReader::Make(
-        DrivetrainInputReader::InputType::kPistol,
+        team == 971 ? DrivetrainInputReader::InputType::kPistol
+                    : DrivetrainInputReader::InputType::kSteeringWheel,
         ::y2018::control_loops::drivetrain::GetDrivetrainConfig());
+    video_tx_.reset(new ProtoTXUdpSocket<VisionControl>(
+        StringPrintf("10.%d.%d.179", team / 100, team % 100), 5000));
   }
 
   void RunIteration(const ::aos::input::driver_station::Data &data) override {
@@ -349,7 +357,7 @@
       LOG(ERROR, "Sending superstructure goal failed.\n");
     }
 
-    video_tx_.Send(vision_control_);
+    video_tx_->Send(vision_control_);
   }
 
  private:
@@ -391,7 +399,7 @@
 
   ::aos::common::actions::ActionQueue action_queue_;
 
-  ProtoTXUdpSocket<VisionControl> video_tx_;
+  ::std::unique_ptr<ProtoTXUdpSocket<VisionControl>> video_tx_;
 };
 
 }  // namespace joysticks