commit ffae0964dcdf5fddeeb8458f2714ec018b9054c5
author Austin Schuh <austin.linux@gmail.com> Fri Oct 22 22:53:41 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 23 13:14:53 2021 -0700
tree 22c6e788fbe6765aeb5763894e5f024e595c2776
parent eb718638effd527c38ad89d4d3646d9eb054f98b

Add partially out intake button

Change-Id: I98e5e2b1cd1a965d7f4b9a862357e2f61e392dea
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/joystick_reader.cc

diff --git a/y2020/joystick_reader.cc b/y2020/joystick_reader.cc
index cd4af11..9c8bae5 100644
--- a/y2020/joystick_reader.cc
+++ b/y2020/joystick_reader.cc
@@ -54,6 +54,7 @@
 const ButtonLocation kIntakeIn(4, 4);
 const ButtonLocation kSpit(4, 3);
 const ButtonLocation kLocalizerReset(3, 8);
+const ButtonLocation kIntakeSlightlyOut(3, 7);
 
 const ButtonLocation kWinch(3, 14);
 
@@ -213,6 +214,10 @@
       preload_intake = true;
     } else if (data.IsPressed(kSpit)) {
       roller_speed = -6.0f;
+    } else if (data.IsPressed(kIntakeSlightlyOut)) {
+      intake_pos = -0.426585;
+      roller_speed = 6.0f;
+      preload_intake = true;
     }
 
     if (data.IsPressed(kWinch)) {