Make spit spit the feed roller too.
This might help us unjam in competition better.
Change-Id: I98aa271db7a70f197e1ac9c9452eed2c4384dde1
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index dd98e63..2da12e6 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -292,6 +292,9 @@
superstructure_goal_builder.add_shooter(shooter_offset);
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed) ||
data.IsPressed(kFeedDriver));
+ if (data.IsPressed(kSpit)) {
+ superstructure_goal_builder.add_feed_voltage_override(-7.0);
+ }
superstructure_goal_builder.add_climber_voltage(climber_speed);
superstructure_goal_builder.add_turret_tracking(turret_tracking);