Servo now routed for gear.
Change-Id: Ifee31cb80bbdfbcf4ef900fe701f578987e9d7e5
diff --git a/y2017/control_loops/superstructure/superstructure.cc b/y2017/control_loops/superstructure/superstructure.cc
index e0017c1..63ab691 100644
--- a/y2017/control_loops/superstructure/superstructure.cc
+++ b/y2017/control_loops/superstructure/superstructure.cc
@@ -109,6 +109,9 @@
status->intake.zeroed && status->hood.zeroed && status->turret.zeroed;
if (output && unsafe_goal) {
+ output->gear_servo =
+ ::std::min(1.0, ::std::max(0.0, unsafe_goal->intake.gear_servo));
+
output->voltage_intake_rollers =
::std::max(-kMaxIntakeRollerVoltage,
::std::min(unsafe_goal->intake.voltage_rollers,
diff --git a/y2017/control_loops/superstructure/superstructure.q b/y2017/control_loops/superstructure/superstructure.q
index dbd4819..c7283b2 100644
--- a/y2017/control_loops/superstructure/superstructure.q
+++ b/y2017/control_loops/superstructure/superstructure.q
@@ -21,6 +21,9 @@
// If true, disable the intake so we can hang.
bool disable_intake;
+
+ // The gear servo value.
+ double gear_servo;
};
struct IndexerGoal {
@@ -231,6 +234,8 @@
double voltage_turret;
double voltage_hood;
+ double gear_servo;
+
// If true, the lights are on.
bool lights_on;