Make new climber fully work
Change-Id: Id7884fdf22a180a4a33d174638c188dc1e01ae48
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 b280b2f..6e31a31 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -46,7 +46,7 @@
double *min_extend_position, const double intake_pivot_position,
double *max_intake_pivot_position, double *min_intake_pivot_position,
NoteGoal requested_note_goal, flatbuffers::FlatBufferBuilder *fbb,
- aos::monotonic_clock::time_point monotonic_now) {
+ aos::monotonic_clock::time_point monotonic_now, bool climbing) {
drivetrain_status_fetcher_.Fetch();
// If our current is over the minimum current and our velocity is under our
@@ -152,11 +152,12 @@
// it if we have no goal, or no subsystem goal, or if we are auto-aiming.
const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
- *turret_goal = (shooter_goal != nullptr && !shooter_goal->auto_aim() &&
- (piece_loaded || state_ == CatapultState::FIRING) &&
- shooter_goal->has_turret_position())
- ? shooter_goal->turret_position()
- : &turret_goal_builder->AsFlatbuffer();
+ *turret_goal =
+ (shooter_goal != nullptr && !shooter_goal->auto_aim() &&
+ (piece_loaded || state_ == CatapultState::FIRING || climbing) &&
+ shooter_goal->has_turret_position())
+ ? shooter_goal->turret_position()
+ : &turret_goal_builder->AsFlatbuffer();
const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
*altitude_goal = (shooter_goal != nullptr && !shooter_goal->auto_aim() &&