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/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index c59804c..94ff7b8 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -63,14 +63,11 @@
output != nullptr ? &output_struct.proximal_voltage : nullptr,
output != nullptr ? &output_struct.distal_voltage : nullptr,
output != nullptr ? &output_struct.roll_joint_voltage : nullptr,
- unsafe_goal != nullptr ? unsafe_goal->intake() : false,
- unsafe_goal != nullptr ? unsafe_goal->spit() : false,
-
status->fbb());
EndEffectorState end_effector_state = end_effector_.RunIteration(
- timestamp, unsafe_goal != nullptr ? unsafe_goal->intake() : false,
- unsafe_goal != nullptr ? unsafe_goal->spit() : false,
+ timestamp,
+ unsafe_goal != nullptr ? unsafe_goal->roller_goal() : RollerGoal::IDLE,
position->end_effector_cone_beam_break(),
position->end_effector_cube_beam_break(), &output_struct.roller_voltage);