commit cf96d32f51e99cdbc4cdb9928728b54f4825dab8
author Austin Schuh <austin.linux@gmail.com> Sat Apr 07 15:52:31 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 30 20:11:30 2018 -0700
tree c7f890e09ce2b11ee8b024207f5e633425a5d554
parent 52b59a45ccaea1305a3a3746b001d6cd90b20d43

Add fast front to back moves.

Also open the intake up a bit further.

Change-Id: Ifc83b479d4792601d418bf85cef429e4c164e83b

y2018/joystick_reader.cc

diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 4e3103b..4f8a410 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -187,13 +187,17 @@
           } else {
             intake_goal_ = -0.10;
           }
+          if (drivetrain_input_reader_->robot_velocity() < -0.1 &&
+              superstructure_queue.position->box_distance > 0.15) {
+            intake_goal_ += 0.10;
+          }
         } else {
           intake_goal_ = -0.60;
         }
       }
     } else {
       // Bring in the intake.
-      intake_goal_ = -3.3;
+      intake_goal_ = -3.20;
     }
 
     if (new_superstructure_goal->intake.roller_voltage > 0.1 &&