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/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 91e782e..9a48095 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -204,9 +204,8 @@
if (unsafe_goal) {
output_struct.washing_machine_spinner_voltage = 0.0;
if (unsafe_goal->shooting()) {
- if (shooter_.ready() &&
- unsafe_goal->shooter()->velocity_accelerator() > 10.0 &&
- unsafe_goal->shooter()->velocity_finisher() > 10.0) {
+ if (shooter_.ready() && shooter_.finisher_goal() > 10.0 &&
+ shooter_.accelerator_goal() > 10.0) {
output_struct.feeder_voltage = 12.0;
} else {
output_struct.feeder_voltage = 0.0;