commit 4b248dad5b2c09c73bf2bb5e6f167497894634d9
author Milind Upadhyay <milind.upadhyay@gmail.com> Wed Sep 21 21:20:12 2022 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Oct 22 15:15:00 2022 -0700
tree 6e99cd3a971804f3c4d05307f1cfad42ae6db2ca
parent c76bb4c0772961828f534073a05f209829afd6f9

Update climber servo output

Different servo model on 2nd robot...

Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: I0a522235f1b9a2a9c1aa898ad1c77d9e596d7a74

y2022/control_loops/superstructure/superstructure.cc

diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index abf3aef..5abe995 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -2,6 +2,7 @@
 
 #include "aos/events/event_loop.h"
 #include "aos/flatbuffer_merge.h"
+#include "aos/network/team_number.h"
 #include "frc971/zeroing/wrap.h"
 #include "y2022/control_loops/superstructure/collision_avoidance.h"
 
@@ -579,7 +580,9 @@
     output_struct.flipper_arms_voltage = flipper_arms_voltage;
     if (climber_servo) {
       output_struct.climber_servo_left = 0.5;
-      output_struct.climber_servo_right = 1.0;
+      output_struct.climber_servo_right =
+          (aos::network::GetTeamNumber() == constants::kCompTeamNumber ? 1.0
+                                                                       : 0.5);
     } else {
       output_struct.climber_servo_left = 1.0;
       output_struct.climber_servo_right = 0.0;