| commit | 1a8437749be646a1562e7112990802dfefa6d787 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Apr 09 22:18:05 2023 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Wed Apr 12 20:56:07 2023 -0700 |
| tree | 36bebfeb2ffe996bc7bd0b0b6d7de32700d8d1cf | |
| parent | 803eead4a484fca695c5de5d5392c95ad4b60e9f [diff] [blame] |
Add ability to wait for a distance along a spline in auto Change-Id: I0e992ccffeca59a655b8b890942aa7aaadfb9fd7 Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc index 0f9418c..ddcf63d 100644 --- a/frc971/control_loops/drivetrain/splinedrivetrain.cc +++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -256,6 +256,8 @@ ? CHECK_NOTNULL(current_trajectory())->length() - current_xva_.x() : 0.0); trajectory_logging_builder.add_available_splines(handles_vector); + trajectory_logging_builder.add_distance_traveled( + executing_spline_ ? current_xva_.x() : 0.0); return trajectory_logging_builder.Finish(); }