Updated 2023 Autonomous
This commit includes the first draft of the autonomous
actor, which we will be testing and adjusting as needed.
This also includes sending the superstructure goals and
a preloaded cone test in the lib test file.
Signed-off-by: Logan Isaacson <100030671@mvla.net>
Change-Id: I01ec7859989a4dfd41251b44d3c1f98a8e8461b6
diff --git a/y2023/control_loops/superstructure/superstructure.cc b/y2023/control_loops/superstructure/superstructure.cc
index 0f19a1e..ece0790 100644
--- a/y2023/control_loops/superstructure/superstructure.cc
+++ b/y2023/control_loops/superstructure/superstructure.cc
@@ -88,7 +88,8 @@
? position->roller_falcon()->torque_current()
: 0.0,
position->cone_position(), position->end_effector_cube_beam_break(),
- &output_struct.roller_voltage);
+ &output_struct.roller_voltage,
+ unsafe_goal != nullptr ? unsafe_goal->preloaded_with_cone() : false);
if (output) {
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));