Bringup main robot
This gets all mechanisms zeroed and running.
Many profiles are still heavily detuned.
Catapult motors are moved to the CANivore bus.
Change-Id: I38a1845f804bd490d5fff285c636010ac8ea2c27
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 3216b69..532109e 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -192,7 +192,7 @@
//
// Correct handles resetting our state when disabled.
const bool disabled = catapult_.Correct(nullptr, position->catapult(),
- shooter_goal == nullptr);
+ catapult_output == nullptr);
catapult_.set_enable_profile(true);
// We want a trajectory which accelerates up over the first portion of the