commit 5e589d759729ff1a47ae094142ac211e60d9b61b
author milind upadhyay <milind.upadhyay@gmail.com> Sat Mar 27 13:47:18 2021 -0700
committer milind upadhyay <milind.upadhyay@gmail.com> Sat Mar 27 13:47:18 2021 -0700
tree a1a0ce904a1cb07a114d1658b08bd2f2d4927e3c
parent c8ba53aa178bd7b62ac5a2c62c97f01f480503b7

Retract the intake at auto start

Otherwise depending on how the last auto was run, we may keep it out and
risk hitting it on things.

Change-Id: Ie72538d1a84468ac15faa7d9f11b2666beb26177

y2020/actors/autonomous_actor.cc

diff --git a/y2020/actors/autonomous_actor.cc b/y2020/actors/autonomous_actor.cc
index 022998d..d78f7fc 100644
--- a/y2020/actors/autonomous_actor.cc
+++ b/y2020/actors/autonomous_actor.cc
@@ -147,13 +147,12 @@
     spline1.Start();
 
     if (!spline1.WaitForSplineDistanceRemaining(0.02)) return;
-    set_intake_goal(-0.89);
-    set_roller_voltage(0.0);
-    SendSuperstructureGoal();
+    RetractIntake();
   }
 }
 
 void AutonomousActor::AutoNavBounce() {
+  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -203,6 +202,7 @@
 }
 
 void AutonomousActor::AutoNavBarrel() {
+  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -222,6 +222,7 @@
 }
 
 void AutonomousActor::AutoNavSlalom() {
+  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -241,6 +242,7 @@
 }
 
 void AutonomousActor::SplineAuto() {
+  RetractIntake();
   SplineHandle spline1 = PlanSpline(
       [this](aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
                  *builder) {
@@ -325,5 +327,12 @@
   }
 
 }
+
+void AutonomousActor::RetractIntake() {
+  set_intake_goal(-0.89);
+  set_roller_voltage(0.0);
+  SendSuperstructureGoal();
+}
+
 }  // namespace actors
 }  // namespace y2020

y2020/actors/autonomous_actor.h

diff --git a/y2020/actors/autonomous_actor.h b/y2020/actors/autonomous_actor.h
index 00a46fd..b22ab36 100644
--- a/y2020/actors/autonomous_actor.h
+++ b/y2020/actors/autonomous_actor.h
@@ -35,6 +35,7 @@
   }
 
   void SendSuperstructureGoal();
+  void RetractIntake();
   void SplineAuto();
   void SendStartingPosition(double x, double y, double theta);
   void SendStartingPosition(const frc971::MultiSpline *const spline);