commit e6fe6c5925b04632f3b23e639f76b761b602e423
author Sabina Davis <sabina1109@gmail.com> Sun Mar 03 15:48:51 2019 -0800
committer Sabina Davis <sabina1109@gmail.com> Sun Mar 03 15:48:51 2019 -0800
tree 72239aa79ada330f1b7b3ec3aa33b864e714bad3
parent dae19b82936e81e1c35fe5de7324b97986d23be7

Tune setpoints

Change-Id: I4068c60ed86871bad6ba206c0536bf2fb05ef79f

y2019/joystick_reader.cc

diff --git a/y2019/joystick_reader.cc b/y2019/joystick_reader.cc
index 9290a2f..bfc13e4 100644
--- a/y2019/joystick_reader.cc
+++ b/y2019/joystick_reader.cc
@@ -66,7 +66,7 @@
 const ElevatorWristPosition kStowPos{0.36, 0.0};
 
 const ElevatorWristPosition kPanelHPIntakeForwrdPos{0.04, M_PI / 2.0};
-const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.04, -M_PI / 2.0};
+const ElevatorWristPosition kPanelHPIntakeBackwardPos{0.05, -M_PI / 2.0};
 
 const ElevatorWristPosition kPanelForwardLowerPos{0.0, M_PI / 2.0};
 const ElevatorWristPosition kPanelBackwardLowerPos{0.0, -M_PI / 2.0};
@@ -77,8 +77,11 @@
 const ElevatorWristPosition kPanelForwardUpperPos{1.51, M_PI / 2.0};
 const ElevatorWristPosition kPanelBackwardUpperPos{1.50, -M_PI / 2.0};
 
-const ElevatorWristPosition kBallForwardLowerPos{0.4598, 1.5863};
-const ElevatorWristPosition kBallBackwardLowerPos{0.175, -1.61};
+const ElevatorWristPosition kPanelCargoForwardPos{0.0, M_PI / 2.0};
+const ElevatorWristPosition kPanelCargoBackwardPos{0.0, -M_PI / 2.0};
+
+const ElevatorWristPosition kBallForwardLowerPos{0.46, M_PI / 2.0};
+const ElevatorWristPosition kBallBackwardLowerPos{0.15, -M_PI / 2.0};
 
 const ElevatorWristPosition kBallForwardMiddlePos{1.16, 1.546};
 const ElevatorWristPosition kBallBackwardMiddlePos{0.876021, -1.546};
@@ -89,8 +92,8 @@
 const ElevatorWristPosition kBallCargoForwardPos{0.699044, 1.353};
 const ElevatorWristPosition kBallCargoBackwardPos{0.828265, -1.999};
 
-const ElevatorWristPosition kBallHPIntakeForwardPos{0.340, 0.737};
-const ElevatorWristPosition kBallHPIntakeBackwardPos{0.52, -1.1};
+const ElevatorWristPosition kBallHPIntakeForwardPos{0.55, 1.097};
+const ElevatorWristPosition kBallHPIntakeBackwardPos{0.89, -2.018};
 
 const ElevatorWristPosition kBallIntakePos{0.29, 2.14};
 
@@ -224,6 +227,10 @@
         elevator_wrist_pos_ = kPanelForwardUpperPos;
       } else if (data.IsPressed(kRocketBackwardUpper)) {
         elevator_wrist_pos_ = kPanelBackwardUpperPos;
+      } else if (data.IsPressed(kCargoForward)) {
+        elevator_wrist_pos_ = kPanelCargoForwardPos;
+      } else if (data.IsPressed(kCargoBackward)) {
+        elevator_wrist_pos_ = kPanelCargoBackwardPos;
       }
     }