Add auto cancel button
Change-Id: I3f026dce7478edfdb71bde9683c42f204c765e58
diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index a82079b..e040ba6 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -78,6 +78,8 @@
const ButtonLocation kPanelHPIntakeBackward(5, 5);
const ButtonLocation kRelease(2, 4);
+// Reuse quickturn for the cancel button.
+const ButtonLocation kCancelAutoMode(2, 3);
const ButtonLocation kReleaseButtonBoard(3, 4);
const ButtonLocation kResetLocalizerLeftForwards(3, 10);
const ButtonLocation kResetLocalizerLeftBackwards(3, 9);
@@ -131,10 +133,9 @@
Reader(::aos::EventLoop *event_loop)
: ::aos::input::ActionJoystickInput(
event_loop,
- ::y2019::control_loops::drivetrain::GetDrivetrainConfig()) {
- // Set teleop to immediately resume after auto ends for sandstorm mode.
- set_run_teleop_in_auto(true);
-
+ ::y2019::control_loops::drivetrain::GetDrivetrainConfig(),
+ {.run_teleop_in_auto = true,
+ .cancel_auto_button = kCancelAutoMode}) {
const uint16_t team = ::aos::network::GetTeamNumber();
superstructure_queue.goal.FetchLatest();
if (superstructure_queue.goal.get()) {