added more manual overrides to the indexer
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index bec7992..0e5270a 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -999,7 +999,11 @@
if (output) {
output->intake_voltage = intake_voltage;
output->transfer_voltage = transfer_voltage;
- output->index_voltage = wrist_loop_->U(0, 0);
+ if (goal->override_index) {
+ output->index_voltage = goal->index_voltage;
+ } else {
+ output->index_voltage = wrist_loop_->U(0, 0);
+ }
output->loader_up = loader_up_;
output->disc_clamped = disc_clamped_;
output->disc_ejected = disc_ejected_;
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index 94e65b9..c14d459 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -16,6 +16,10 @@
int32_t goal_state;
// Forces the loader to fire.
bool force_fire;
+
+ // If true, set the indexer voltage to index_voltage.
+ bool override_index;
+ double index_voltage;
};
message Position {