added a lockout so it won't stop the shooter too soon
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index 4ec77ba..869409f 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -54,6 +54,7 @@
loader_up_(false),
disc_clamped_(false),
disc_ejected_(false),
+ is_shooting_(false),
last_bottom_disc_detect_(false),
last_top_disc_detect_(false),
no_prior_position_(true),
@@ -690,6 +691,7 @@
if (loader_state_ == LoaderState::GRABBED &&
safe_goal_ == Goal::SHOOT) {
loader_goal_ = LoaderGoal::SHOOT_AND_RESET;
+ is_shooting_ = true;
}
// Must wait until it has been grabbed to continue.
@@ -983,6 +985,7 @@
// Once we have shot, we need to hang out in READY until otherwise
// notified.
loader_goal_ = LoaderGoal::READY;
+ is_shooting_ = false;
break;
}
@@ -1025,6 +1028,7 @@
status->total_disc_count = total_disc_count_;
status->shot_disc_count = shot_disc_count_;
status->preloaded = (loader_state_ != LoaderState::READY);
+ status->is_shooting = is_shooting_;
if (output) {
output->intake_voltage = intake_voltage;
diff --git a/frc971/control_loops/index/index.h b/frc971/control_loops/index/index.h
index 7c68a7f..28cad07 100644
--- a/frc971/control_loops/index/index.h
+++ b/frc971/control_loops/index/index.h
@@ -323,6 +323,8 @@
bool disc_clamped_;
bool disc_ejected_;
+ bool is_shooting_;
+
// The frisbee that is flying through the transfer rollers.
Frisbee transfer_frisbee_;
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index f8fe449..b12e31c 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -77,6 +77,9 @@
bool preloaded;
// Indexer ready to accept more discs.
bool ready_to_intake;
+ // True from when we're committed to shooting util after the disk is clear
+ // of the robot.
+ bool is_shooting;
};
queue Goal goal;