commit 337e3a533d38472bd7e8e5c227f40c5e3856e0bf
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 14:06:52 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 20:22:16 2024 -0700
tree fc94b6820f3650dbf3204eaf56fe02a7761fa06d
parent 73d68883ced7df7a5d669b53b579d1160681a3f1

Autonomous changes for champs

* Add and tune two-piece-via-stage auto
* Tweak five note for champs fields

Change-Id: Ie191bcd4d3a7fe8d3a7f215190e9c84859c43acc
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/autonomous/autonomous_actor.h

diff --git a/y2024/autonomous/autonomous_actor.h b/y2024/autonomous/autonomous_actor.h
index e0b4f33..a126feb 100644
--- a/y2024/autonomous/autonomous_actor.h
+++ b/y2024/autonomous/autonomous_actor.h
@@ -43,11 +43,13 @@
   void MobilityAndShoot();
   void FourPieceAuto();
   void TwoPieceStealAuto();
+  void TwoPieceViaStageAuto();
   void SendSuperstructureGoal();
 
   void StopIntake();
   void Intake();
   void Aim();
+  void StopAiming();
   void Shoot();
   void StopFiring();
 
@@ -75,6 +77,7 @@
   std::optional<std::array<SplineHandle, 1>> mobility_and_shoot_splines_;
   std::optional<std::array<SplineHandle, 5>> four_piece_splines_;
   std::optional<std::array<SplineHandle, 4>> two_piece_steal_splines_;
+  std::optional<std::array<SplineHandle, 4>> two_piece_via_stage_splines_;
 
   control_loops::superstructure::IntakeGoal intake_goal_ =
       control_loops::superstructure::IntakeGoal::NONE;