Stop intaking when transfer beam break triggered
Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: I8ce749bd5f44012fc2c7a1014e0555988600d979
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index ce279a6..a1bf841 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -73,6 +73,9 @@
NoteGoal requested_note_goal_ = NoteGoal::NONE;
+ // True if the transfer beambreak has been triggered since last intake request
+ bool note_in_transfer_ = false;
+
aos::monotonic_clock::time_point transfer_start_time_ =
aos::monotonic_clock::time_point::min();
@@ -91,6 +94,8 @@
Debouncer extend_debouncer_;
+ Debouncer transfer_debouncer_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};