Make loading positions unwrap the turret
This reverts commit c4df1b52b3104740e3cf095db638fe469f200cbf.
Update the aimer with the turret loading goal when transferring
so it doesn't have to wrap
Change-Id: I987f91a53d3bdd07a6a8dbc63b1e5f88216775a3
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
diff --git a/y2022/control_loops/superstructure/turret/aiming.h b/y2022/control_loops/superstructure/turret/aiming.h
index 4eabe3e..a762298 100644
--- a/y2022/control_loops/superstructure/turret/aiming.h
+++ b/y2022/control_loops/superstructure/turret/aiming.h
@@ -24,6 +24,9 @@
void Update(const Status *status, ShotMode shot_mode);
+ void UpdateTurretGoal(double turret_goal) {
+ goal_.mutable_message()->mutate_unsafe_goal(turret_goal);
+ }
const Goal *TurretGoal() const { return &goal_.message(); }
// Returns the distance to the goal, in meters.