Make kTurret button auto-track target
Change-Id: I76c25802c0f1a4b5cb9f5924ec3f0b581d6e7160
diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index 0a37df6..8905315 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -38,7 +38,7 @@
// TODO(sabina): fix button locations.
const ButtonLocation kShootFast(3, 16);
-const ButtonLocation kTurret(3, 15);
+const ButtonLocation kAutoTrack(3, 15);
const ButtonLocation kHood(3, 3);
const ButtonLocation kShootSlow(4, 2);
const ButtonLocation kFeed(4, 1);
@@ -77,16 +77,13 @@
double hood_pos = constants::Values::kHoodRange().middle();
double intake_pos = -0.89;
- double turret_pos = 0.0;
float roller_speed = 0.0f;
float roller_speed_compensation = 0.0f;
double accelerator_speed = 0.0;
double finisher_speed = 0.0;
double climber_speed = 0.0;
- if (data.IsPressed(kTurret)) {
- turret_pos = 3.5;
- }
+ const bool auto_track = data.IsPressed(kAutoTrack);
if (data.IsPressed(kHood)) {
hood_pos = 0.45;
@@ -150,7 +147,7 @@
flatbuffers::Offset<StaticZeroingSingleDOFProfiledSubsystemGoal>
turret_offset = CreateStaticZeroingSingleDOFProfiledSubsystemGoal(
- *builder.fbb(), turret_pos,
+ *builder.fbb(), 0.0,
CreateProfileParameters(*builder.fbb(), 6.0, 20.0));
flatbuffers::Offset<superstructure::ShooterGoal> shooter_offset =
@@ -170,6 +167,10 @@
superstructure_goal_builder.add_shooting(data.IsPressed(kFeed));
superstructure_goal_builder.add_climber_voltage(climber_speed);
+ superstructure_goal_builder.add_turret_tracking(auto_track);
+ superstructure_goal_builder.add_hood_tracking(auto_track);
+ superstructure_goal_builder.add_shooter_tracking(auto_track);
+
if (!builder.Send(superstructure_goal_builder.Finish())) {
AOS_LOG(ERROR, "Sending superstructure goal failed.\n");
}