Ignore the turret and finisher and hood on the practice robot.
It won't have one, and won't take the shot unless they are ready.
Ignore them when the team is 9971
Change-Id: I4eaa7c8e80cdc020cb8af2e040bb0b452b5edc84
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index 2520df6..ccbb326 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -27,7 +27,7 @@
flatbuffers::FlatBufferBuilder *fbb, OutputT *output,
const aos::monotonic_clock::time_point position_timestamp);
- bool ready() const { return ready_; }
+ bool ready() const { return finisher_ready() && accelerator_ready(); }
bool finisher_ready() const { return finisher_ready_; }
bool accelerator_ready() const { return accelerator_ready_; }
@@ -44,10 +44,9 @@
FlywheelController finisher_, accelerator_left_, accelerator_right_;
- bool UpToSpeed(const ShooterGoal *goal);
+ void UpToSpeed(const ShooterGoal *goal);
bool finisher_ready_ = false;
bool accelerator_ready_ = false;
- bool ready_ = false;
int balls_shot_ = 0;
bool finisher_goal_changed_ = false;