Add a button to spit on the extend
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I18059564d83970f9977bb52007f7b1eb20dd883d
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index a541a55..016110a 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -435,6 +435,10 @@
break;
}
+ if (unsafe_goal != nullptr && unsafe_goal->spit_extend()) {
+ output_struct.extend_roller_voltage = -extend_roller_voltages->scoring();
+ }
+
double extend_goal_position = 0.0;
if (unsafe_goal != nullptr && unsafe_goal->note_goal() == NoteGoal::TRAP) {
diff --git a/y2024/control_loops/superstructure/superstructure_goal.fbs b/y2024/control_loops/superstructure/superstructure_goal.fbs
index 13cf4e0..abfd405 100644
--- a/y2024/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2024/control_loops/superstructure/superstructure_goal.fbs
@@ -67,5 +67,8 @@
// Tells the climber to go absurdly slow on FULL_EXTEND
slow_climber: bool = false (id: 6);
+
+ // Spit on the extend motors
+ spit_extend: bool = false (id: 7);
}
root_type Goal;
diff --git a/y2024/joystick_reader.cc b/y2024/joystick_reader.cc
index f7578f9..4a8d414 100644
--- a/y2024/joystick_reader.cc
+++ b/y2024/joystick_reader.cc
@@ -45,6 +45,7 @@
const ButtonLocation kIntake(2, 2);
const ButtonLocation kSpitRollers(1, 13);
+const ButtonLocation kSpitExtend(1, 12);
const ButtonLocation kIntakeRollers(2, 5);
const ButtonLocation kCatapultLoad(2, 1);
@@ -114,6 +115,12 @@
superstructure::IntakeGoal::NONE);
}
+ if (data.IsPressed(kSpitExtend)) {
+ superstructure_goal_builder->set_spit_extend(true);
+ } else {
+ superstructure_goal_builder->set_spit_extend(false);
+ }
+
if (data.IsPressed(kAmp)) {
superstructure_goal_builder->set_note_goal(superstructure::NoteGoal::AMP);
} else if (data.IsPressed(kTrap)) {