commit 01d81c3fe4d7de6e1f13225edcc972db7d2b67f2
author Austin Schuh <austin.linux@gmail.com> Sat Nov 06 22:59:56 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Nov 06 23:57:01 2021 -0700
tree 3f7ad2e7b87ff28ba3d58c98f5613cffae0e91b7
parent 7b757a838180719aeff41e9250f06e268e8245d9

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>

y2020/control_loops/superstructure/superstructure.cc

diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index d3c2464..ae79e76 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -2,6 +2,7 @@
 
 #include "aos/containers/sized_array.h"
 #include "aos/events/event_loop.h"
+#include "aos/network/team_number.h"
 
 namespace y2020 {
 namespace control_loops {
@@ -22,7 +23,8 @@
           event_loop->MakeFetcher<frc971::control_loops::drivetrain::Status>(
               "/drivetrain")),
       joystick_state_fetcher_(
-          event_loop->MakeFetcher<aos::JoystickState>("/aos")) {
+          event_loop->MakeFetcher<aos::JoystickState>("/aos")),
+      has_turret_(::aos::network::GetTeamNumber() != 9971) {
   event_loop->SetRuntimeRealtimePriority(30);
 }
 
@@ -199,7 +201,7 @@
   flatbuffers::Offset<flatbuffers::Vector<Subsystem>>
       subsystems_not_ready_offset;
   const bool turret_ready =
-      (std::abs(turret_.goal(0) - turret_.position()) < 0.025);
+      (std::abs(turret_.goal(0) - turret_.position()) < 0.025) || !has_turret_;
   if (unsafe_goal && unsafe_goal->shooting() &&
       (!shooter_.ready() || !turret_ready)) {
     aos::SizedArray<Subsystem, 3> subsystems_not_ready;
@@ -270,7 +272,9 @@
       }
 
       if (unsafe_goal->shooting()) {
-        if (shooter_.ready() && turret_ready) {
+        if ((shooter_.ready() ||
+             (!has_turret_ && shooter_.accelerator_ready())) &&
+            turret_ready) {
           output_struct.feeder_voltage = 12.0;
         }
         output_struct.washing_machine_spinner_voltage = 5.0;