commit 1286c011fbee333b7a6301ce7ead1ce4dc0164e0
author Filip Kujawa <filip.j.kujawa@gmail.com> Sun Mar 31 22:53:27 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Apr 07 13:26:40 2024 -0700
tree cff11dc7c79ee19d5b77a4c274552d6071d1ce84
parent b364ed4648871bf4594c857d2055c2c76e719451

Add shuttle auto-aim

This change prepares the code for shuttle support by adding a new button,
shot table, and shot target location for the shuttle shot.

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Ic70f1b0344fcab8316553cbda4a337cf8353dfd6

y2024/autonomous/autonomous_actor.cc

diff --git a/y2024/autonomous/autonomous_actor.cc b/y2024/autonomous/autonomous_actor.cc
index 6dd6f8a..19ff2b8 100644
--- a/y2024/autonomous/autonomous_actor.cc
+++ b/y2024/autonomous/autonomous_actor.cc
@@ -187,7 +187,7 @@
 void AutonomousActor::Reset() {
   set_intake_goal(control_loops::superstructure::IntakeGoal::NONE);
   set_note_goal(control_loops::superstructure::NoteGoal::NONE);
-  set_auto_aim(false);
+  set_auto_aim(control_loops::superstructure::AutoAimMode::NONE);
   set_fire(false);
   set_preloaded(false);
   SendSuperstructureGoal();
@@ -494,7 +494,7 @@
 }
 
 void AutonomousActor::Aim() {
-  set_auto_aim(true);
+  set_auto_aim(control_loops::superstructure::AutoAimMode::SPEAKER);
   SendSuperstructureGoal();
 }
 

y2024/autonomous/autonomous_actor.h

diff --git a/y2024/autonomous/autonomous_actor.h b/y2024/autonomous/autonomous_actor.h
index 8abc8e3..e0b4f33 100644
--- a/y2024/autonomous/autonomous_actor.h
+++ b/y2024/autonomous/autonomous_actor.h
@@ -28,7 +28,9 @@
   void set_note_goal(control_loops::superstructure::NoteGoal note_goal) {
     note_goal_ = note_goal;
   }
-  void set_auto_aim(bool auto_aim) { auto_aim_ = auto_aim; }
+  void set_auto_aim(control_loops::superstructure::AutoAimMode auto_aim) {
+    auto_aim_ = auto_aim;
+  }
   void set_fire(bool fire) { fire_ = fire; }
   void set_preloaded(bool preloaded) { preloaded_ = preloaded; }
 
@@ -80,7 +82,8 @@
   control_loops::superstructure::NoteGoal note_goal_ =
       control_loops::superstructure::NoteGoal::CATAPULT;
 
-  bool auto_aim_ = false;
+  control_loops::superstructure::AutoAimMode auto_aim_ =
+      control_loops::superstructure::AutoAimMode::NONE;
   bool fire_ = false;
   bool preloaded_ = false;
 };