Add X/Y profiling to the fridge.
The fridge queue now accepts parameters for an additional profiling
type. If you set `profiling_type` to 1 then you can specify the goals
in X/Y co-ordinates.
This is very useful for the scoring actions because it lets us move
the fridge horizontally with nicely profiled motions.
Change-Id: Idc70d5f6737a18a76448af0ffe24079cac616d06
diff --git a/frc971/constants.h b/frc971/constants.h
index fe47418..0b6b725 100644
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -111,6 +111,10 @@
// How high the elevator has to be before we start zeroing the arm.
double arm_zeroing_height;
+
+ // The length of the arm, from the axis of the bottom pivot to the axis of
+ // the top pivot.
+ double arm_length;
};
Fridge fridge;