Add 3 autonomous modes.
Change-Id: Ied6692009ebd5373a422881180107c1b2d2b7116
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 81791e5..ce46ec7 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -248,11 +248,14 @@
::frc971::autonomous::AutonomousActionParams params;
::frc971::autonomous::auto_mode.FetchLatest();
if (::frc971::autonomous::auto_mode.get() != nullptr) {
- params.mode = ::frc971::autonomous::auto_mode->mode;
+ params.mode = ::frc971::autonomous::auto_mode->mode << 2;
} else {
LOG(WARNING, "no auto mode values\n");
params.mode = 0;
}
+ // TODO(austin): use the mode later if we care. We don't care right now.
+ params.mode = static_cast<int>(::aos::joystick_state->switch_left) |
+ (static_cast<int>(::aos::joystick_state->scale_left) << 1);
action_queue_.EnqueueAction(
::frc971::autonomous::MakeAutonomousAction(params));
}