Add fender auto and auto-select it
Auto now automatically selects fender vs aligned depending on if we are
971 or 9971.
Change-Id: Ic6bd0b10af9049fba01eba25f29c383c9d3b4a2b
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 1877d58..abf9ea0 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -49,6 +49,7 @@
void ExtendIntake();
void RetractIntake();
void SplineAuto();
+ void Fender();
void SendStartingPosition(const Eigen::Vector3d &start);
void TargetAligned();
void TargetOffset();
@@ -62,6 +63,8 @@
void Replan();
+ bool practice_robot_ = false;
+
double intake_goal_ = 0.0;
double roller_voltage_ = 0.0;
bool shooting_ = false;
@@ -85,6 +88,8 @@
// Max number of splines is 5
std::optional<std::array<SplineHandle, 3>> target_aligned_splines_;
+ std::optional<std::array<SplineHandle, 1>> fender_splines_;
+
std::optional<SplineHandle> barrel_spline_;
std::optional<SplineHandle> slalom_spline_;
std::optional<SplineHandle> test_spline_;