Suck cone all the way in
A small suck voltage will result in a small current, which makes sure
the cone gets sucked in a consistent amount. The beam break alone isn't
proving to be enough.
Change-Id: I12ea4a86ffc0baece4400311ccbeea1ca589276a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/end_effector.cc b/y2023/control_loops/superstructure/end_effector.cc
index 444be0d..b600bbb 100644
--- a/y2023/control_loops/superstructure/end_effector.cc
+++ b/y2023/control_loops/superstructure/end_effector.cc
@@ -109,6 +109,9 @@
if (!beambreak_status && !preloaded_with_cone) {
state_ = EndEffectorState::INTAKING;
}
+ if (game_piece_ != vision::Class::CUBE) {
+ *roller_voltage = 1.3;
+ }
break;
case EndEffectorState::SPITTING:
// If spit requested, spit