Actually shoot when auto tracking
We were waiting for the velocity goal to be nonzero. This wasn't
correctly handling autotrack, so we couldn't fire unless the shooter
button was pressed too.
Change-Id: Ib25a213ed95a0bb3990402eb693135c0ded951a5
diff --git a/y2020/control_loops/superstructure/shooter/shooter.h b/y2020/control_loops/superstructure/shooter/shooter.h
index f72eeeb..1a46949 100644
--- a/y2020/control_loops/superstructure/shooter/shooter.h
+++ b/y2020/control_loops/superstructure/shooter/shooter.h
@@ -26,6 +26,9 @@
bool ready() { return ready_; }
+ float finisher_goal() const { return finisher_.goal(); }
+ float accelerator_goal() const { return accelerator_left_.goal(); }
+
private:
FlywheelController finisher_, accelerator_left_, accelerator_right_;