Check against actual superstructure voltage limits
The superstructure uses 5V when "slow moving". Someone added checks
against a hard-coded 4V though so two tests were causing the test
binary to crash.
Change-Id: I32c4a1e0b1c26bcd9ef66e5d503fe780e2fd316a
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc
index ba49675..8147fc2 100644
--- a/y2016/control_loops/superstructure/superstructure.cc
+++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -14,8 +14,6 @@
namespace superstructure {
namespace {
-constexpr double kZeroingVoltage = 5.0;
-constexpr double kOperatingVoltage = 12.0;
constexpr double kLandingShoulderDownVoltage = -2.0;
// The maximum voltage the intake roller will be allowed to use.
constexpr float kMaxIntakeTopVoltage = 12.0;
@@ -644,6 +642,8 @@
last_state_ = state_before_switch;
}
+constexpr double Superstructure::kZeroingVoltage;
+constexpr double Superstructure::kOperatingVoltage;
constexpr double Superstructure::kShoulderMiddleAngle;
constexpr double Superstructure::kLooseTolerance;
constexpr double Superstructure::kIntakeUpperClear;