| commit | 6c9f4d88f0de6ba78cad0fc8c185e93ddc7b50ac | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Fri Mar 01 22:42:00 2024 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Mar 02 13:21:41 2024 -0800 |
| tree | b56c4439c01891183c9a848c6d1efed9fcfb10a6 | |
| parent | f69410dcd3b906c6f1d2b468ac9fbeee7b5d7663 [diff] |
Spin transfer rollers when loading the catapult Otherwise it gets stuck. Change-Id: Ie58f3d666a10785816d6acad86193aed91b4ddc9 Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc index 6b262c1..46cf4c2 100644 --- a/y2024/control_loops/superstructure/superstructure.cc +++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -297,6 +297,7 @@ extend_moving = false; extend_goal_location = ExtendStatus::CATAPULT; extend_roller_status = ExtendRollerStatus::TRANSFERING_TO_CATAPULT; + transfer_roller_status = TransferRollerStatus::TRANSFERING_IN; // If we lost the game piece, reset state to idle. if (((timestamp - loading_catapult_start_time_) >
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc index 56452c8..0b39ec6 100644 --- a/y2024/control_loops/superstructure/superstructure_lib_test.cc +++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -1184,6 +1184,7 @@ ExtendRollerStatus::IDLE); // Should now be loaded. + superstructure_output_fetcher_.Fetch(); EXPECT_EQ(superstructure_output_fetcher_->transfer_roller_voltage(), 0.0); EXPECT_NEAR(superstructure_status_fetcher_->shooter()->altitude()->position(),