| commit | 00e4227fd886b1bd08cdcd070b4a79c06ba58cf0 | [log] [tgz] |
|---|---|---|
| author | Theo Bafrali <100019017@mvla.net> | Tue Feb 12 01:07:46 2019 -0800 |
| committer | Austin Schuh <austin@peloton-tech.com> | Wed Feb 13 00:09:54 2019 -0800 |
| tree | 867d2402f5070f06571f3f29862af275d14e5417 | |
| parent | a64a3f975cd52d0477328a75cc275912bc36be35 [diff] [blame] |
Implement superstructure class and tests Change-Id: If5a2a296ada3dd625ad7eb74af106b36b36ab932
diff --git a/y2019/control_loops/superstructure/collision_avoidance.cc b/y2019/control_loops/superstructure/collision_avoidance.cc index 7a26b90..ed6787f 100644 --- a/y2019/control_loops/superstructure/collision_avoidance.cc +++ b/y2019/control_loops/superstructure/collision_avoidance.cc
@@ -128,8 +128,8 @@ } if (unsafe_goal) { - const double wrist_goal = unsafe_goal->wrist.angle; - const double intake_goal = unsafe_goal->intake.joint_angle; + const double wrist_goal = unsafe_goal->wrist.unsafe_goal; + const double intake_goal = unsafe_goal->intake.unsafe_goal; // Compute if we need to move the intake. const bool intake_needs_to_move = (intake_position < kIntakeMiddleAngle) ^