Send 0.95 from TOF controller if there is no cone.
This lets us detect cone presence separately from unplugged sensor.
Change-Id: I0f70c1229bd88b5c50ed2fdf043361d072c41402
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 9d5d564..617464b 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -79,7 +79,7 @@
EndEffectorState end_effector_state = end_effector_.RunIteration(
timestamp,
unsafe_goal != nullptr ? unsafe_goal->roller_goal() : RollerGoal::IDLE,
- position->end_effector_cone_beam_break(),
+ false,
position->end_effector_cube_beam_break(), &output_struct.roller_voltage);
if (output) {