Add extend collision avoidance
If extend wants to go up, move turret to 0 and lock it out.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I13101a0c10d430436e765250b70a1257601680b2
diff --git a/y2024/control_loops/superstructure/shooter.h b/y2024/control_loops/superstructure/shooter.h
index 4ceffd4..2571cab 100644
--- a/y2024/control_loops/superstructure/shooter.h
+++ b/y2024/control_loops/superstructure/shooter.h
@@ -102,10 +102,10 @@
double *retention_roller_output,
double *retention_roller_stator_current_limit, double battery_voltage,
/* Hacky way to use collision avoidance in this class */
- CollisionAvoidance *collision_avoidance,
- const double intake_pivot_position, double *max_turret_intake_position,
- double *min_intake_pivot_position,
- /* If true, go to extend collision avoidance position */ bool standby,
+ CollisionAvoidance *collision_avoidance, const double extend_position,
+ const double extend_goal, double *max_extend_position,
+ double *min_extend_position, const double intake_pivot_position,
+ double *max_turret_intake_position, double *min_intake_pivot_position,
flatbuffers::FlatBufferBuilder *fbb,
aos::monotonic_clock::time_point monotonic_now);