commit e153c5aa2db245d48ac659c903e08cf934a6f8e2
author Austin Schuh <austin.linux@gmail.com> Wed Apr 20 20:18:42 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri Apr 22 21:47:58 2016 -0700
tree 241caba7df0943a7fc9291a1cec0505411fafd02
parent 974cf65da738dd147d94a112596c116970b55114

Recalibrated shots.

Change-Id: I4b027e8d17b001c22fd0b3b98adfae88b792bf4d

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index d70215f..859a77b 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -218,7 +218,7 @@
     if (data.IsPressed(kHigherFrontLong)) {
       // Forwards shot
       shoulder_goal_ = M_PI / 2.0 + 0.1;
-      wrist_goal_ = M_PI + 0.43;
+      wrist_goal_ = M_PI + 0.43 + 0.02;
       if (drivetrain_queue.status.get()) {
         wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
@@ -227,7 +227,7 @@
     } else if (data.IsPressed(kFrontLong)) {
       // Forwards shot
       shoulder_goal_ = M_PI / 2.0 + 0.1;
-      wrist_goal_ = M_PI + 0.41;
+      wrist_goal_ = M_PI + 0.41 + 0.02;
       if (drivetrain_queue.status.get()) {
         wrist_goal_ += drivetrain_queue.status->ground_angle;
       }
@@ -236,7 +236,7 @@
     } else if (data.IsPressed(kBackLong)) {
       // Backwards shot
       shoulder_goal_ = M_PI / 2.0 - 0.4;
-      wrist_goal_ = -0.62;
+      wrist_goal_ = -0.62 - 0.02;
       if (drivetrain_queue.status.get()) {
         wrist_goal_ += drivetrain_queue.status->ground_angle;
       }