commit 17e484ec90eb95db8b53daa25f37c6ed26b1a6d6
author Austin Schuh <austin.linux@gmail.com> Sun Mar 11 01:11:36 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 21 20:12:23 2018 -0700
tree 868fcde3955fdc34b0bf734bef0a3b5296ab87af
parent 0aae92411895d4e5385ba22097284d012b714523

Add hanger code.

This adds the goal nodes for the hanger, and the ability to hang.

Change-Id: Ib33c19298cd08e98abf27d9789982d78f8df191e

y2018/control_loops/superstructure/arm/arm.h

diff --git a/y2018/control_loops/superstructure/arm/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index 8e1860f..a39b550 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -38,7 +38,8 @@
                const bool box_back_beambreak_triggered,
                const bool intake_clear_of_box, double *proximal_output,
                double *distal_output, bool *release_arm_brake,
-               bool *claw_closed, control_loops::ArmStatus *status);
+               bool *claw_closed, control_loops::ArmStatus *status,
+               bool suicide);
 
   void Reset();
 
@@ -48,6 +49,7 @@
     DISABLED,
     GOTO_PATH,
     RUNNING,
+    PREP_CLIMB,
     ESTOP,
   };
 
@@ -98,6 +100,8 @@
 
   bool close_enough_for_full_power_ = false;
 
+  int32_t climb_count_ = 0;
+
   EKF arm_ekf_;
   TrajectoryFollower follower_;