commit b1a74ea53d20f6ad4b26ae0ff9388f0c8d766470
author Milind Upadhyay <milind.upadhyay@gmail.com> Wed Mar 09 20:34:35 2022 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Fri Mar 11 19:59:11 2022 -0800
tree 5960dfe6703d1d5b3ae70f76151776061ee8a27a
parent 14ddccf0a71b7ce7eebcd9072e5557209f7efbad

Add second transfer roller motor

Still use same behavior of always sending opposite voltages

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: If6bcf617db37b40924556d59dcfa23e7d43bdef1

y2022/joystick_reader.cc

diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 0065db7..ce5c755 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -157,7 +157,8 @@
     // Default to the intakes in
     double intake_front_pos = 1.47;
     double intake_back_pos = 1.47;
-    double transfer_roller_speed = 0.0;
+    double transfer_roller_front_speed = 0.0;
+    double transfer_roller_back_speed = 0.0;
 
     double roller_front_speed = 0.0;
     double roller_back_speed = 0.0;
@@ -198,11 +199,13 @@
     if (data.IsPressed(kIntakeFrontOut)) {
       intake_front_pos = 0.0;
       roller_front_speed = 12.0;
-      transfer_roller_speed = 12.0;
+      transfer_roller_front_speed = 12.0;
+      transfer_roller_back_speed = -transfer_roller_front_speed;
     } else if (data.IsPressed(kIntakeBackOut)) {
       roller_back_speed = 12.0;
       intake_back_pos = 0.0;
-      transfer_roller_speed = -12.0;
+      transfer_roller_back_speed = 12.0;
+      transfer_roller_front_speed = -transfer_roller_back_speed;
     }
 
     if (data.IsPressed(kFire)) {
@@ -253,7 +256,10 @@
 
       superstructure_goal_builder.add_roller_speed_front(roller_front_speed);
       superstructure_goal_builder.add_roller_speed_back(roller_back_speed);
-      superstructure_goal_builder.add_transfer_roller_speed(transfer_roller_speed);
+      superstructure_goal_builder.add_transfer_roller_speed_front(
+          transfer_roller_front_speed);
+      superstructure_goal_builder.add_transfer_roller_speed_back(
+          transfer_roller_front_speed);
 
       if (builder.Send(superstructure_goal_builder.Finish()) !=
           aos::RawSender::Error::kOk) {