commit 4a326b1a5e8a5e7ab44e87882b749df7dd731d27
author Sabina Leaver <100027607@mvla.net> Wed Sep 29 20:14:23 2021 -0700
committer Sabina Leaver <100027607@mvla.net> Wed Oct 20 19:52:22 2021 -0700
tree 16be3b440d32aafc7852a9cbc00c155875205dff
parent 24f83be30e3bd4fd4b08717cfd92cd1487ab67af

Adding the climber to the 2021 3rd robot messages

Signed-off-by: Sabina Leaver <100027607@mvla.net>
Change-Id: I05a32aff04cabc58a4c18fd4b9016172725c36a6
Signed-off-by: Sabina Leaver <100027607@mvla.net>

y2021_bot3/control_loops/superstructure/superstructure.cc

diff --git a/y2021_bot3/control_loops/superstructure/superstructure.cc b/y2021_bot3/control_loops/superstructure/superstructure.cc
index 22c7c44..fbedb22 100644
--- a/y2021_bot3/control_loops/superstructure/superstructure.cc
+++ b/y2021_bot3/control_loops/superstructure/superstructure.cc
@@ -31,6 +31,8 @@
         std::clamp(unsafe_goal->intake_speed(), -12.0, 12.0);
     output_struct.outtake_volts =
         std::clamp(unsafe_goal->outtake_speed(), -12.0, 12.0);
+    output_struct.climber_volts =
+        std::clamp(unsafe_goal->climber_speed(), -12.0, 12.0);
     output->Send(Output::Pack(*output->fbb(), &output_struct));
   }
 
@@ -42,6 +44,7 @@
   if (unsafe_goal != nullptr) {
     status_builder.add_intake_speed(unsafe_goal->intake_speed());
     status_builder.add_outtake_speed(unsafe_goal->outtake_speed());
+    status_builder.add_climber_speed(unsafe_goal->climber_speed());
   }
 
   status->Send(status_builder.Finish());