Fixed shooter joystick powers to be sane.
diff --git a/frc971/control_loops/shooter/shooter.cc b/frc971/control_loops/shooter/shooter.cc
index bf2e614..f896f17 100755
--- a/frc971/control_loops/shooter/shooter.cc
+++ b/frc971/control_loops/shooter/shooter.cc
@@ -194,11 +194,9 @@
// Use the controller without the spring if the latch is set and the
// plunger is back
shooter_.set_controller_index(1);
- LOG(DEBUG, "Using controller 1\n");
} else {
// Otherwise use the controller with the spring.
shooter_.set_controller_index(0);
- LOG(DEBUG, "Using controller 0\n");
}
if (shooter_.controller_index() != last_controller_index) {
shooter_.RecalculatePowerGoal();
diff --git a/frc971/input/joystick_reader.cc b/frc971/input/joystick_reader.cc
index be49798..131b21d 100644
--- a/frc971/input/joystick_reader.cc
+++ b/frc971/input/joystick_reader.cc
@@ -61,7 +61,7 @@
public:
Reader()
: is_high_gear_(false),
- shot_power_(0.1),
+ shot_power_(30.0),
goal_angle_(0.0),
separation_angle_(0.0) {}
@@ -163,13 +163,13 @@
// TODO(austin): Wait for the claw to go to position before shooting, and
// open the claw as part of the actual fire step.
if (data.IsPressed(kLongShot)) {
- shot_power_ = 0.25;
+ shot_power_ = 120.0;
SetGoal(kLongShotGoal);
} else if (data.IsPressed(kMediumShot)) {
- shot_power_ = 0.15;
+ shot_power_ = 60.0;
SetGoal(kMediumShotGoal);
} else if (data.IsPressed(kShortShot)) {
- shot_power_ = 0.07;
+ shot_power_ = 30.0;
SetGoal(kShortShotGoal);
}