commit 09517b957db77c0e0e93e19958fde68e713baabc
author Theo Bafrali <100019017@mvla.net> Sat Feb 16 15:59:17 2019 -0800
committer Theo Bafrali <100019017@mvla.net> Sun Feb 17 14:45:42 2019 -0800
tree ff4863433974627e8ed92cbae09eeb680945309c
parent 7f87b4736f29834dbc595be074048f82bedebfd1

Added intake rollers and test

Change-Id: Ie47b1e3d85b1693e2269bfd883bea03d0b887b92

y2019/control_loops/superstructure/superstructure.h

diff --git a/y2019/control_loops/superstructure/superstructure.h b/y2019/control_loops/superstructure/superstructure.h
index 22dbcd6..c3e53f2 100644
--- a/y2019/control_loops/superstructure/superstructure.h
+++ b/y2019/control_loops/superstructure/superstructure.h
@@ -28,18 +28,10 @@
           ::frc971::zeroing::AbsoluteEncoderZeroingEstimator,
           ::frc971::control_loops::AbsoluteEncoderProfiledJointStatus>;
 
-  const PotAndAbsoluteEncoderSubsystem &elevator() const {
-    return elevator_;
-  }
-  const PotAndAbsoluteEncoderSubsystem &wrist() const {
-    return wrist_;
-  }
-  const AbsoluteEncoderSubsystem &intake() const {
-    return intake_;
-  }
-  const PotAndAbsoluteEncoderSubsystem &stilts() const {
-    return stilts_;
-  }
+  const PotAndAbsoluteEncoderSubsystem &elevator() const { return elevator_; }
+  const PotAndAbsoluteEncoderSubsystem &wrist() const { return wrist_; }
+  const AbsoluteEncoderSubsystem &intake() const { return intake_; }
+  const PotAndAbsoluteEncoderSubsystem &stilts() const { return stilts_; }
 
  protected:
   virtual void RunIteration(const SuperstructureQueue::Goal *unsafe_goal,
@@ -55,6 +47,8 @@
 
   CollisionAvoidance collision_avoidance_;
 
+  static constexpr double kMinIntakeAngleForRollers = -0.7;
+
   DISALLOW_COPY_AND_ASSIGN(Superstructure);
 };