commit 6fc7ee21ea33db559ca95b9c7652a16792d8e8c5
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Sep 30 10:23:31 2023 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Oct 04 19:33:57 2023 -0700
tree 6fec2c0c96730f9e831fd55c7cf5878732b89bf4
parent 21a39165b4d147968d9f7113c58b3f14b1f483c7

Add option for disabling balance in auto

Used at chezy champs.

Change-Id: If9de7832c68ce1f5740d4c04ebc3d0f868de91a6
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2023/autonomous/autonomous_actor.cc

diff --git a/y2023/autonomous/autonomous_actor.cc b/y2023/autonomous/autonomous_actor.cc
index bedbab7..8891223 100644
--- a/y2023/autonomous/autonomous_actor.cc
+++ b/y2023/autonomous/autonomous_actor.cc
@@ -15,6 +15,7 @@
 DEFINE_bool(spline_auto, false, "Run simple test S-spline auto mode.");
 DEFINE_bool(charged_up, true, "If true run charged up autonomous mode");
 DEFINE_bool(charged_up_cable, false, "If true run cable side autonomous mode");
+DEFINE_bool(do_balance, true, "If true run the balance.");
 
 namespace y2023 {
 namespace autonomous {
@@ -364,6 +365,7 @@
   AOS_LOG(
       INFO, "Placed second cube %lf s\n",
       aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
+
   InitializeEncoders();
 
   const ProfileParametersT kDrive = MakeProfileParameters(2.0, 4.0);
@@ -381,6 +383,11 @@
         INFO, "Done backing up %lf s\n",
         aos::time::DurationInSeconds(aos::monotonic_clock::now() - start_time));
 
+    if (!FLAGS_do_balance) {
+      StopSpitting();
+      return;
+    }
+
     const ProfileParametersT kInPlaceTurn = MakeProfileParameters(2.7, 8.0);
     StartDrive(0.0, aos::math::NormalizeAngle(M_PI / 2.0 - Theta()), kDrive,
                kInPlaceTurn);