Revised the superstructure queue.
Austin and I sat down and re-worked the queue to work better with
the robot now that we know all of the sensors and such.
Change-Id: I68c3fb5b2b399d73e03640fadd13b297c8c3f251
diff --git a/y2018/joystick_reader.cc b/y2018/joystick_reader.cc
index 9d00ac6..9286163 100644
--- a/y2018/joystick_reader.cc
+++ b/y2018/joystick_reader.cc
@@ -104,7 +104,8 @@
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
- new_superstructure_goal->intake.intake_angle = intake_goal_;
+ new_superstructure_goal->intake.left_intake_angle = intake_goal_;
+ new_superstructure_goal->intake.right_intake_angle = intake_goal_;
if (data.IsPressed(kIntakeIn)) {
// Turn on the rollers.
@@ -121,22 +122,16 @@
if (data.IsPressed(kArmDown)) {
// Put the arm down to the intake level.
- new_superstructure_goal->arm.proximal_position =
- 1.0; // TODO(Neil): Add real value once we have it.
- new_superstructure_goal->arm.distal_position =
- 0.0; // TODO(Neil): Add real value once we have it.
+ new_superstructure_goal->arm_goal_position =
+ 1; // TODO(Neil): Add real value once we have it.
} else if (data.IsPressed(kArmSwitch)) {
// Put the arm up to the level of the switch.
- new_superstructure_goal->arm.proximal_position =
- 1.5; // TODO(Neil): Add real value once we have it.
- new_superstructure_goal->arm.distal_position =
- 0.5; // TODO(Neil): Add real value once we have it.
+ new_superstructure_goal->arm_goal_position =
+ 1; // TODO(Neil): Add real value once we have it.
} else if (data.IsPressed(kArmScale)) {
// Put the arm up to the level of the switch.
- new_superstructure_goal->arm.proximal_position =
- 1.5; // TODO(Neil): Add real value once we have it.
- new_superstructure_goal->arm.distal_position =
- 2.0; // TODO(Neil): Add real value once we have it.
+ new_superstructure_goal->arm_goal_position =
+ 1; // TODO(Neil): Add real value once we have it.
}
if (data.IsPressed(kClawOpen)) {