commit 225156b7cbe202127c7f8198fcc12586f25245f2
author Milind Upadhyay <milind.upadhyay@gmail.com> Fri Feb 25 22:42:12 2022 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Feb 26 21:11:23 2022 -0800
tree c5852d9eba1839c081a0e9c65791ce3deffb820e
parent 030f7602876518806f1a087ba3531697429f167f

Add collision avoidance

Makes sure that the intakes dont collide with the back of the catapult

Signed-off-by: Henry Speiser <henry@speiser.net>
Change-Id: Ie25dd244d2ef316bd1c3dfa20636c5b6150113ef

y2022/control_loops/superstructure/superstructure.h

diff --git a/y2022/control_loops/superstructure/superstructure.h b/y2022/control_loops/superstructure/superstructure.h
index 68260fd..dfd4265 100644
--- a/y2022/control_loops/superstructure/superstructure.h
+++ b/y2022/control_loops/superstructure/superstructure.h
@@ -6,6 +6,7 @@
 #include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
 #include "y2022/constants.h"
 #include "y2022/control_loops/superstructure/catapult/catapult.h"
+#include "y2022/control_loops/superstructure/collision_avoidance.h"
 #include "y2022/control_loops/superstructure/superstructure_goal_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_output_generated.h"
 #include "y2022/control_loops/superstructure/superstructure_position_generated.h"
@@ -29,7 +30,7 @@
           ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;
 
   explicit Superstructure(::aos::EventLoop *event_loop,
-                         std::shared_ptr<const constants::Values> values,
+                          std::shared_ptr<const constants::Values> values,
                           const ::std::string &name = "/superstructure");
 
   inline const PotAndAbsoluteEncoderSubsystem &intake_front() const {
@@ -58,6 +59,8 @@
   PotAndAbsoluteEncoderSubsystem intake_back_;
   PotAndAbsoluteEncoderSubsystem turret_;
 
+  CollisionAvoidance collision_avoidance_;
+
   aos::Fetcher<frc971::control_loops::drivetrain::Status>
       drivetrain_status_fetcher_;