commit e0554ef13a021cbdef0647f5531411ab0282ff94
author Adam Snaider <adsnaider@gmail.com> Sat Mar 11 23:02:45 2017 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 22 20:24:04 2017 -0700
tree 122fab0250275ae011c3cf6fbf476c84f506b55e
parent 3028b1d09c246ca21833dccc7400a46655f02379

Turn lights on when button is pushed

Finished.

Change-Id: I53880c31a5d46499b7875e154bae9b5b7716091c

y2017/joystick_reader.cc

diff --git a/y2017/joystick_reader.cc b/y2017/joystick_reader.cc
index 9cee19f..4d3355f 100644
--- a/y2017/joystick_reader.cc
+++ b/y2017/joystick_reader.cc
@@ -111,6 +111,7 @@
   void HandleTeleop(const ::aos::input::driver_station::Data &data) {
     // Default the intake to in.
     intake_goal_ = constants::Values::kIntakeRange.lower;
+    bool lights_on = false;
 
     if (!data.GetControlBit(ControlBit::kEnabled)) {
       action_queue_.CancelAllActions();
@@ -130,6 +131,7 @@
     if (data.IsPressed(kVisionAlign)) {
       // Align shot using vision
       // TODO(campbell): Add vision aligning.
+      lights_on = true;
       shooter_velocity_ = 100.0;
     } else if (data.IsPressed(kCloseShot)) {
       // Close shot
@@ -176,6 +178,7 @@
     new_superstructure_goal->hood.profile_params.max_acceleration = 25.0;
 
     new_superstructure_goal->intake.voltage_rollers = 0.0;
+    new_superstructure_goal->lights_on = lights_on;
 
     if (data.IsPressed(kHang)) {
       new_superstructure_goal->intake.voltage_rollers = -12.0;