Bringup progress
Here's how far I got bringing the robot up. Turret needs to be
re-calibrated again, it keeps slipping.
Change-Id: Idf8cb73973434cf9c64fd737852f1b3092b79c75
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index b9e0698..c93165d 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -253,8 +253,9 @@
const double flipper_open_position =
(flippers_open_ ? constants::Values::kReseatFlipperPosition()
: constants::Values::kFlipperOpenPosition());
+
+ // TODO(milind): add left arm back once it's fixed
flippers_open_ =
- position->flipper_arm_left()->encoder() >= flipper_open_position &&
position->flipper_arm_right()->encoder() >= flipper_open_position;
if (flippers_open_) {