| commit | 45878506c9eef8f029c9c02a10ba674300d6f762 | [log] [tgz] |
|---|---|---|
| author | Maxwell Henderson <mxwhenderson@gmail.com> | Fri Mar 15 19:35:25 2024 -0700 |
| committer | Maxwell Henderson <mxwhenderson@gmail.com> | Sat Mar 16 12:49:29 2024 -0700 |
| tree | 826e2930b3609b3f60d1afda5b60cf3ca458ff95 | |
| parent | 333702b66b83c2ac9b96a1eb575eb7b4716e3cec [diff] |
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;