commit 58461f5a833ad2ec936fa2754a122fcaaef10fc2
author Niko Sohmers <nikolai@sohmers.com> Wed Mar 20 20:12:10 2024 -0700
committer Niko Sohmers <nikolai@sohmers.com> Fri Mar 22 16:40:01 2024 -0700
tree fffc7a07b36790972c70f9534d51d6f3242238ec
parent 99faf63ea072e3b734c5dd791aa6ef83d7acd9c7

Add "disable_climber" and "disable_extend" to robot json files

This allows for disabling the climber and extend through robot.json files. Since the climber currently does not work it will be set to true.

Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I2e06d68c53a36cf6fd7a9fc6f8fb22beab78c334

y2024/control_loops/superstructure/shooter.cc

diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 79da980..88bf390 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -186,10 +186,10 @@
       {.intake_pivot_position = intake_pivot_position,
        .turret_position = turret_.estimated_position(),
        .extend_position =
-           ((!robot_constants_->common()->disable_extend()) ? extend_position
-                                                            : 0.0)},
+           ((!robot_constants_->robot()->disable_extend()) ? extend_position
+                                                           : 0.0)},
       turret_goal->unsafe_goal(),
-      ((!robot_constants_->common()->disable_extend()) ? extend_goal : 0.0));
+      ((!robot_constants_->robot()->disable_extend()) ? extend_goal : 0.0));
 
   if (!CatapultRetracted()) {
     altitude_.set_min_position(

y2024/control_loops/superstructure/superstructure.cc

diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 5727546..4ab5966 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -162,7 +162,7 @@
   // considered ready to accept note from the transfer rollers. If disable
   // extend is triggered, this will autoatically be false.
   const bool extend_at_retracted =
-      (!robot_constants_->common()->disable_extend() &&
+      (!robot_constants_->robot()->disable_extend() &&
        PositionNear(extend_.position(), extend_set_points->retracted(),
                     kExtendThreshold));
 
@@ -532,7 +532,7 @@
   const bool collided = collision_avoidance_.IsCollided({
       .intake_pivot_position = intake_pivot_.estimated_position(),
       .turret_position = shooter_.turret().estimated_position(),
-      .extend_position = ((!robot_constants_->common()->disable_extend())
+      .extend_position = ((!robot_constants_->robot()->disable_extend())
                               ? extend_.estimated_position()
                               : 0.0),
   });
@@ -642,10 +642,15 @@
           status->fbb());
 
   // Zero out extend voltage if "disable_extend" is true
-  if (robot_constants_->common()->disable_extend()) {
+  if (robot_constants_->robot()->disable_extend()) {
     output_struct.extend_voltage = 0.0;
   }
 
+  // Zero out climber voltage if "disable_climber" is true
+  if (robot_constants_->robot()->disable_climber()) {
+    output_struct.climber_voltage = 0.0;
+  }
+
   if (output) {
     output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
   }