Superstructure tunings and changes from SFR
Change-Id: I89b801bc37b557630f561993419ad30b8fca484b
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure.h b/y2024/control_loops/superstructure/superstructure.h
index 1c2d119..ce279a6 100644
--- a/y2024/control_loops/superstructure/superstructure.h
+++ b/y2024/control_loops/superstructure/superstructure.h
@@ -67,12 +67,15 @@
aos::Alliance alliance_ = aos::Alliance::kInvalid;
- bool catapult_requested_ = false;
-
SuperstructureState state_ = SuperstructureState::IDLE;
+ bool trap_override_ = false;
+
NoteGoal requested_note_goal_ = NoteGoal::NONE;
+ aos::monotonic_clock::time_point transfer_start_time_ =
+ aos::monotonic_clock::time_point::min();
+
aos::monotonic_clock::time_point intake_end_time_ =
aos::monotonic_clock::time_point::min();
@@ -85,6 +88,9 @@
Shooter shooter_;
PotAndAbsoluteEncoderSubsystem extend_;
+
+ Debouncer extend_debouncer_;
+
DISALLOW_COPY_AND_ASSIGN(Superstructure);
};