Added indexer support, with stall detection.
Re-tuned some other loops while I was learning more about the indexer.
Change-Id: I893f1f273b31357ae9137601ca27322fc3b09d98
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index 99de502..3cad298 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -27,6 +27,7 @@
turret_.Reset();
intake_.Reset();
shooter_.Reset();
+ indexer_.Reset();
}
hood_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->hood) : nullptr,
@@ -46,6 +47,10 @@
&(position->theta_shooter),
output != nullptr ? &(output->voltage_shooter) : nullptr,
&(status->shooter));
+ indexer_.Iterate(unsafe_goal != nullptr ? &(unsafe_goal->indexer) : nullptr,
+ &(position->theta_indexer),
+ output != nullptr ? &(output->voltage_indexer) : nullptr,
+ &(status->indexer));
}
} // namespace superstructure