Added gear + 40 kpa auto and re-tuned 40 kpa auto
We now have much more accurate physical alignment methods for both.
Sabina sights down the side of the robot.
Change-Id: I05be6160ad81664efafcf48aa89dfc166a8390f1
diff --git a/y2017/actors/autonomous_actor.h b/y2017/actors/autonomous_actor.h
index fcb17e9..8dadf0c 100644
--- a/y2017/actors/autonomous_actor.h
+++ b/y2017/actors/autonomous_actor.h
@@ -32,6 +32,8 @@
shooter_velocity_ = 0.0;
indexer_angular_velocity_ = 0.0;
intake_max_velocity_ = 0.5;
+ gear_servo_ = 0.66;
+ use_vision_for_shots_ = false;
InitializeEncoders();
ResetDrivetrain();
SendSuperstructureGoal();
@@ -44,6 +46,8 @@
double shooter_velocity_ = 0.0;
double indexer_angular_velocity_ = 0.0;
double intake_max_velocity_ = 0.5;
+ double gear_servo_ = 0.66;
+ bool use_vision_for_shots_ = false;
void set_intake_goal(double intake_goal) { intake_goal_ = intake_goal; }
void set_turret_goal(double turret_goal) { turret_goal_ = turret_goal; }
@@ -58,6 +62,12 @@
void set_intake_max_velocity(double intake_max_velocity) {
intake_max_velocity_ = intake_max_velocity;
}
+ void set_gear_servo(double gear_servo) {
+ gear_servo_ = gear_servo;
+ }
+ void set_use_vision_for_shots(bool use_vision_for_shots) {
+ use_vision_for_shots_ = use_vision_for_shots;
+ }
void SendSuperstructureGoal() {
auto new_superstructure_goal = superstructure_queue.goal.MakeMessage();
@@ -80,6 +90,8 @@
new_superstructure_goal->intake.voltage_rollers = 0.0;
new_superstructure_goal->lights_on = true;
new_superstructure_goal->intake.disable_intake = false;
+ new_superstructure_goal->intake.gear_servo = gear_servo_;
+ new_superstructure_goal->use_vision_for_shots = use_vision_for_shots_;
new_superstructure_goal->indexer.angular_velocity =
indexer_angular_velocity_;