commit e126437d8ee86c2dd6ac59f8afa6028de4edb048
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 20:22:36 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 20:34:22 2022 -0700
tree fc61933cdaa02d91e35974596e0eb24d1d215bb0
parent 297519fb6a474bc1b5fbbb59b683cd4061f75b1a

Fix roller voltages in autonomous

Change-Id: I9186d32efe6f748f581c9c6310d6c96719765ce7
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2022/actors/autonomous_actor.cc

diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index bf4fd13..bb488d8 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -19,8 +19,9 @@
 namespace y2022 {
 namespace actors {
 namespace {
-constexpr double kExtendIntakeGoal = 0.0;
+constexpr double kExtendIntakeGoal = -0.02;
 constexpr double kRetractIntakeGoal = 1.47;
+constexpr double kIntakeRollerVoltage = 8.0;
 constexpr double kRollerVoltage = 12.0;
 constexpr double kCatapultReturnPosition = -0.908;
 }  // namespace
@@ -348,7 +349,7 @@
 
 void AutonomousActor::ExtendFrontIntake() {
   set_intake_front_goal(kExtendIntakeGoal);
-  set_roller_front_voltage(kRollerVoltage);
+  set_roller_front_voltage(kIntakeRollerVoltage);
   set_transfer_roller_front_voltage(kRollerVoltage);
   set_transfer_roller_back_voltage(-kRollerVoltage);
   SendSuperstructureGoal();
@@ -356,7 +357,7 @@
 
 void AutonomousActor::RetractFrontIntake() {
   set_intake_front_goal(kRetractIntakeGoal);
-  set_roller_front_voltage(kRollerVoltage);
+  set_roller_front_voltage(0.0);
   set_transfer_roller_front_voltage(0.0);
   set_transfer_roller_back_voltage(0.0);
   SendSuperstructureGoal();
@@ -364,7 +365,7 @@
 
 void AutonomousActor::ExtendBackIntake() {
   set_intake_back_goal(kExtendIntakeGoal);
-  set_roller_back_voltage(kRollerVoltage);
+  set_roller_back_voltage(kIntakeRollerVoltage);
   set_transfer_roller_back_voltage(kRollerVoltage);
   set_transfer_roller_front_voltage(-kRollerVoltage);
   SendSuperstructureGoal();
@@ -372,7 +373,7 @@
 
 void AutonomousActor::RetractBackIntake() {
   set_intake_back_goal(kRetractIntakeGoal);
-  set_roller_back_voltage(kRollerVoltage);
+  set_roller_back_voltage(0.0);
   set_transfer_roller_front_voltage(0.0);
   set_transfer_roller_back_voltage(0.0);
   SendSuperstructureGoal();