Added shooter and tests.
Added the shooter into the main superstructure and added tests.
Change-Id: I6c9afe3c74a08251854805050c40fafdca90fba8
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index 88bcb3b..f72eeeb 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -21,11 +21,17 @@
flatbuffers::Offset<ShooterStatus> RunIteration(
const ShooterGoal *goal, const ShooterPosition *position,
- flatbuffers::FlatBufferBuilder *fbb, OutputT *output);
+ flatbuffers::FlatBufferBuilder *fbb, OutputT *output,
+ const aos::monotonic_clock::time_point position_timestamp);
+
+ bool ready() { return ready_; }
private:
FlywheelController finisher_, accelerator_left_, accelerator_right_;
+ bool UpToSpeed(const ShooterGoal *goal);
+ bool ready_ = false;
+
DISALLOW_COPY_AND_ASSIGN(Shooter);
};