Add 2022 climber code
superstructure & wpilib climber code changes made in SuperstructureWriter & Sensor reader
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Change-Id: I5d28db16beb324d8a260e6dc042f54f97c5cdfa3
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index e985779..b2c89d1 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -26,7 +26,7 @@
if (output != nullptr && unsafe_goal != nullptr) {
OutputT output_struct;
-
+ output_struct.climber_voltage = unsafe_goal->climber_speed();
output->CheckOk(output->Send(Output::Pack(*output->fbb(), &output_struct)));
}
@@ -36,8 +36,8 @@
status_builder.add_estopped(false);
if (unsafe_goal != nullptr) {
+ status_builder.add_climber_speed(unsafe_goal->climber_speed());
}
-
(void)status->Send(status_builder.Finish());
}