tweaking positions
diff --git a/frc971/autonomous/auto.cc b/frc971/autonomous/auto.cc
index 9b41633..5c076c6 100644
--- a/frc971/autonomous/auto.cc
+++ b/frc971/autonomous/auto.cc
@@ -330,8 +330,8 @@
double WRIST_UP;
const double WRIST_DOWN = -0.580;
- const double WRIST_DOWN_TWO = WRIST_DOWN - 0.010;
- const double ANGLE_ONE = 0.556;
+ const double WRIST_DOWN_TWO = WRIST_DOWN - 0.005;
+ const double ANGLE_ONE = 0.520;
const double ANGLE_TWO = 0.677;
ResetIndex();
@@ -366,7 +366,7 @@
SetWristGoal(WRIST_UP); // wrist must calibrate itself on power-up
SetAngle_AdjustGoal(ANGLE_ONE);
- SetShooterVelocity(380.0);
+ SetShooterVelocity(395.0);
WaitForIndexReset();
if (ShouldExitAuto()) return;
PreloadIndex(); // spin to top and put 1 disc into loader
diff --git a/frc971/input/JoystickReader.cc b/frc971/input/JoystickReader.cc
index bbac61e..0be561f 100644
--- a/frc971/input/JoystickReader.cc
+++ b/frc971/input/JoystickReader.cc
@@ -133,9 +133,9 @@
// pretend like no button is pressed
}
#endif
- shooter_goal->velocity = 395;
+ shooter_goal->velocity = 360;
wrist_up_position = 1.23 - 0.4;
- angle_adjust_goal = 0.520;
+ angle_adjust_goal = 0.596;
} else if (Pressed(2, 3)) {
// medium shot
#if 0
@@ -144,9 +144,9 @@
angle_adjust_goal = 0.564;
#endif
// middle wheel on the back line (same as auto)
- shooter_goal->velocity = 360;
+ shooter_goal->velocity = 395;
wrist_up_position = 1.23 - 0.4;
- angle_adjust_goal = 0.596;
+ angle_adjust_goal = 0.520;
} else if (Pressed(2, 6)) {
// short shot
shooter_goal->velocity = 375;