commit fef64ac18017d0247844191990d2dda82269b43b
author Austin Schuh <austin.linux@gmail.com> Sun Apr 24 19:08:01 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Fri May 13 20:24:51 2016 -0700
tree a6062f5b30f5eff6052fdc635815301b545a7b06
parent e4ec49c33fefc251dfdfcd67ce95ae7330a2b117

Made hanging work.

Change-Id: I02f7601c530387a1d9c03c0995544a8541466231

y2016/joystick_reader.cc

diff --git a/y2016/joystick_reader.cc b/y2016/joystick_reader.cc
index f1ae333..e1e0c9b 100644
--- a/y2016/joystick_reader.cc
+++ b/y2016/joystick_reader.cc
@@ -148,7 +148,7 @@
     }
 
     // Don't do any normal drivetrain stuff if vision is in charge.
-    if (was_running_) {
+    if (vision_action_running_) {
       return;
     }
 
@@ -253,7 +253,7 @@
       // Set the goals to the hanging position so when the actor finishes, we
       // will still be at the right spot.
       shoulder_goal_ = 1.2;
-      wrist_goal_ = 0.0;
+      wrist_goal_ = 1.0;
       intake_goal_ = 0.0;
       if (data.PosEdge(kExpand)) {
         is_expanding_ = true;
@@ -261,6 +261,7 @@
         params.partial_angle = 0.3;
         params.delay_time = 0.7;
         params.full_angle = shoulder_goal_;
+        params.shooter_angle = wrist_goal_;
         action_queue_.EnqueueAction(actors::MakeSuperstructureAction(params));
       }
       if (data.IsPressed(kWinch)) {