commit 1d6d0d48fede5f2b83d141ef9094e03552e599e5
author Austin Schuh <austin.linux@gmail.com> Sun Mar 13 15:31:48 2016 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Mar 13 21:03:49 2016 -0700
tree 199a630edb067b4c6605ed9e32bad59b79ebd33e
parent a3240bd26e60cfec0796e940e2837ed3d96fde3c

Added force lights on shooter queue feature.

Change-Id: I6a463c81770b862ea363cc4dd4737065f72a71cb

y2016/control_loops/shooter/shooter.cc

diff --git a/y2016/control_loops/shooter/shooter.cc b/y2016/control_loops/shooter/shooter.cc
index 699903d..32ccc7e 100644
--- a/y2016/control_loops/shooter/shooter.cc
+++ b/y2016/control_loops/shooter/shooter.cc
@@ -83,7 +83,7 @@
 
     // Turn the lights on if we are supposed to spin.
     if (output) {
-      if (::std::abs(goal->angular_velocity) > 0.0) {
+      if (::std::abs(goal->angular_velocity) > 0.0 || goal->force_lights_on) {
         output->lights_on = true;
       }
     }

y2016/control_loops/shooter/shooter.q

diff --git a/y2016/control_loops/shooter/shooter.q b/y2016/control_loops/shooter/shooter.q
index 00149a8..6598319 100644
--- a/y2016/control_loops/shooter/shooter.q
+++ b/y2016/control_loops/shooter/shooter.q
@@ -28,6 +28,9 @@
     // is up to speed, push the ball into the shooter, and then wait until it
     // spins up and down before letting the piston be released.
     bool push_to_shooter;
+
+    // Forces the lights on.
+    bool force_lights_on;
   };
 
   message Position {