commit 43a220fef5160fee982e03347d1e83fd8a91f0ee
author Austin Schuh <austin.linux@gmail.com> Wed Feb 26 22:02:34 2020 -0800
committer Austin Schuh <austin.linux@gmail.com> Wed Feb 26 22:25:56 2020 -0800
tree 0a5a895e287916652fd13e7922a0ac8fa6c6fb90
parent eff5a6eb559ac62219ae32c4051271df6b05358d

Add feed

Change-Id: I00616ce7641de6da58d3bbee7e74296385399c83

y2020/control_loops/superstructure/superstructure.cc

diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 39c913e..9a6c3cd 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -97,6 +97,12 @@
 
   if (output != nullptr) {
     if (unsafe_goal) {
+        output_struct.washing_machine_spinner_voltage = 6.0;
+      if (unsafe_goal->shooting()) {
+        output_struct.feeder_voltage = 6.0;
+      } else {
+        output_struct.feeder_voltage = 0.0;
+      }
       output_struct.intake_roller_voltage = unsafe_goal->roller_voltage();
     } else {
       output_struct.intake_roller_voltage = 0.0;