commit 1f32d62d4593bae431492f5be03d614df0698602
author Ravago Jones <ravagojones@gmail.com> Thu Aug 26 12:20:36 2021 -0700
committer Ravago Jones <ravagojones@gmail.com> Sat Oct 09 15:19:02 2021 -0700
tree 5f6a9fe357cbf6049264df167341baa2b28b7ba5
parent a4782512ae742279143f8fb428a064f6df051ec1

Add WaitForBallsShot to 2020 autonomous

Change-Id: Ia426978c68866a7b5673306de584f9808c595926
Signed-off-by: Ravago Jones <ravagojones@gmail.com>

y2020/actors/autonomous_actor.h

diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 7bdb44b..9c69d57 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -43,6 +43,7 @@
   void AutoNavBarrel();
   void AutoNavSlalom();
   bool DriveFwd();
+  bool WaitForBallsShot(int num_shot);
 
   void Replan();
 
@@ -56,6 +57,8 @@
       superstructure_goal_sender_;
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;
   aos::Fetcher<y2020::vision::GalacticSearchPath> path_fetcher_;
+  aos::Fetcher<y2020::control_loops::superstructure::Status>
+      superstructure_status_fetcher_;
 
   aos::TimerHandler *replan_timer_;