Rezero & tune robot
Rezero values; tune intake; separate out transfer roller speeds for when
extend is moving.
Change-Id: Ia6c574e81f9655396c2333fc921c67b91cbaf554
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 6abdd3b..495f8ad 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -228,7 +228,7 @@
robot_constants_->common()
->turret_avoid_extend_collision_position(),
kTurretLoadingThreshold);
- transfer_roller_status = TransferRollerStatus::TRANSFERING_IN;
+ transfer_roller_status = TransferRollerStatus::EXTEND_MOVING;
if (turret_ready_for_extend_move.value()) {
state_ = SuperstructureState::MOVING;
@@ -247,7 +247,7 @@
}
break;
case SuperstructureState::MOVING:
- transfer_roller_status = TransferRollerStatus::TRANSFERING_IN;
+ transfer_roller_status = TransferRollerStatus::EXTEND_MOVING;
if (catapult_requested_) {
extend_goal = ExtendStatus::CATAPULT;
@@ -420,6 +420,11 @@
->transfer_roller_voltages()
->transfer_out();
break;
+ case TransferRollerStatus::EXTEND_MOVING:
+ output_struct.transfer_roller_voltage = robot_constants_->common()
+ ->transfer_roller_voltages()
+ ->extend_moving();
+ break;
}
// Update Extend Roller voltage based on status from state machine.
diff --git a/y2024/control_loops/superstructure/superstructure_lib_test.cc b/y2024/control_loops/superstructure/superstructure_lib_test.cc
index 1738181..5c8676d 100644
--- a/y2024/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2024/control_loops/superstructure/superstructure_lib_test.cc
@@ -400,7 +400,7 @@
EXPECT_NEAR(set_point,
superstructure_status_fetcher_->intake_pivot()->position(),
- 0.015);
+ 0.03);
if (superstructure_goal_fetcher_->has_shooter_goal() &&
superstructure_goal_fetcher_->note_goal() != NoteGoal::AMP &&
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index e9fff2f..cd3e65b 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -75,6 +75,7 @@
NONE = 0,
TRANSFERING_IN = 1,
TRANSFERING_OUT = 2,
+ EXTEND_MOVING = 3,
}
// Contains status of extend rollers