Add superstructure state machine
Managing balls from the intake into the catapult
Change-Id: I88535ee82a876d63fe49e3607c6986690d704daf
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
diff --git a/y2022/control_loops/superstructure/collision_avoidance.h b/y2022/control_loops/superstructure/collision_avoidance.h
index 94b454c..7c25964 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.h
+++ b/y2022/control_loops/superstructure/collision_avoidance.h
@@ -69,7 +69,10 @@
double min_turret_collision_position,
double max_turret_collision_position);
// Checks and alters goals to make sure they're safe.
- void UpdateGoal(const Status &status, const Goal *unsafe_goal);
+ void UpdateGoal(
+ const Status &status,
+ const frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
+ *unsafe_turret_goal);
// Limits if goal is in collision spots.
void CalculateAvoidance(bool intake_front, double intake_position,
double turret_goal, double mix_turret_collision_goal,