commit 18a901d2f28313146890adbf9c04a279cabe097b
author milind-u <milind.upadhyay@gmail.com> Fri Feb 17 21:51:55 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 22 20:44:25 2023 -0800
tree 7071496a6ff1c59d7d31687c1b0aae715eeefe62
parent b83e1c721a749c91f089181c2d008ccd5625c69b

Add roll joint to superstructure and arm UI

Arm UI changes:
- Update robot dimensions
- Support visualizing roll joint
- Add roll joint collision detection

Superstructure changes:
- Adding roll joint feedback loop and zeroing estimator

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I422e343890248940bba98ba3cabac94e68723a3e

y2023/control_loops/superstructure/superstructure.cc

diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index fa83d20..1ad2625 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -60,6 +60,7 @@
           unsafe_goal != nullptr ? unsafe_goal->trajectory_override() : false,
           output != nullptr ? &output_struct.proximal_voltage : nullptr,
           output != nullptr ? &output_struct.distal_voltage : nullptr,
+          output != nullptr ? &output_struct.roll_joint_voltage : nullptr,
           unsafe_goal != nullptr ? unsafe_goal->intake() : false,
           unsafe_goal != nullptr ? unsafe_goal->spit() : false,