Lower intake a bit more
Change-Id: Ie26f5f48667e0e688c4905ccd67bd3cbea63a6f4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure_plotter.ts b/y2022/control_loops/superstructure/superstructure_plotter.ts
index 36f0c92..aae3d5a 100644
--- a/y2022/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2022/control_loops/superstructure/superstructure_plotter.ts
@@ -6,7 +6,7 @@
import Connection = proxy.Connection;
const TIME = AosPlotter.TIME;
-const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 2;
const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
export function plotSuperstructure(conn: Connection, element: Element): void {
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index db3b6a5..de37ebe 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -205,17 +205,18 @@
}
constexpr double kRollerSpeed = 8.0;
+ constexpr double kIntakePosition = -0.02;
constexpr size_t kIntakeCounterIterations = 25;
// Extend the intakes and spin the rollers
if (data.IsPressed(kIntakeFrontOut)) {
- intake_front_pos = 0.0;
+ intake_front_pos = kIntakePosition;
transfer_roller_front_speed = 12.0;
transfer_roller_back_speed = -transfer_roller_front_speed;
intake_front_counter_ = kIntakeCounterIterations;
} else if (data.IsPressed(kIntakeBackOut)) {
- intake_back_pos = 0.0;
+ intake_back_pos = kIntakePosition;
transfer_roller_back_speed = 12.0;
transfer_roller_front_speed = -transfer_roller_back_speed;