| commit | 6a8131ba5d6a3512d97c705f225f0700942f66c2 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Apr 08 15:39:22 2017 -0700 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sun Apr 09 18:04:05 2017 -0700 |
| tree | 72cd10c8765e87e2dcc2d9a643db4786502a716a | |
| parent | 8e3ac0febb6062809e9a82dd4ee3bbeb54866c5e [diff] [blame] |
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,