Combine intake and spit in superstructure goal
With how the superstructure goal worked before there could be a goal to
both intake and spit. So I moved them into an enum with an IDLE state
if its not intaking or spitting.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I51d893a9f62a8a0b9621f89ca01da91f4b9491d1
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index 5417dc8..07d54ec 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -55,8 +55,8 @@
const ::aos::monotonic_clock::time_point /*monotonic_now*/,
const uint32_t *unsafe_goal, const superstructure::ArmPosition *position,
bool trajectory_override, double *proximal_output, double *distal_output,
- double *roll_joint_output, bool /*intake*/, bool /*spit*/,
- flatbuffers::FlatBufferBuilder *fbb) {
+ double *roll_joint_output, flatbuffers::FlatBufferBuilder *fbb) {
+ ::Eigen::Matrix<double, 2, 1> Y;
const bool outputs_disabled =
((proximal_output == nullptr) || (distal_output == nullptr) ||
(roll_joint_output == nullptr));