commit 73d68883ced7df7a5d669b53b579d1160681a3f1
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Apr 07 21:26:17 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 20:22:13 2024 -0700
tree b7b81d211e14b61829eff6147076241da090ef0e
parent 548174a01141a1ed962e6ac4fb52868529fc1a04

Adjust shot angle offset depending on retention roller current

This is functionally disabled currently, as it always outputs the same
shot angle offset.

Change-Id: I7bc4b3bc0ba2779d00a3d3203e67e97748b759b1
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/control_loops/superstructure/shooter.cc

diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 0c52360..7fb8973 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -93,9 +93,11 @@
   // Always retain the game piece if we are enabled.
   if (retention_roller_output != nullptr) {
     *retention_roller_output =
-        robot_constants_->common()->retention_roller_voltages()->retaining();
+        robot_constants_->common()->retention_roller_voltages()->intaking();
 
     if (piece_loaded) {
+      *retention_roller_output =
+          robot_constants_->common()->retention_roller_voltages()->retaining();
       *retention_roller_stator_current_limit =
           robot_constants_->common()
               ->current_limits()
@@ -283,9 +285,11 @@
       case CatapultState::READY:
         [[fallthrough]];
       case CatapultState::LOADED: {
+        aimer_.latch_note_current(false);
         if (piece_loaded) {
           state_ = CatapultState::LOADED;
         } else {
+          aimer_.IndicateReady();
           state_ = CatapultState::READY;
         }
 
@@ -311,6 +315,7 @@
         [[fallthrough]];
       }
       case CatapultState::FIRING:
+        aimer_.latch_note_current(true);
         *retention_roller_output =
             robot_constants_->common()->retention_roller_voltages()->spitting();
         *retention_roller_stator_current_limit =
@@ -336,6 +341,7 @@
         }
         [[fallthrough]];
       case CatapultState::RETRACTING:
+        aimer_.latch_note_current(false);
         catapult_.set_controller_index(0);
         catapult_.mutable_profile()->set_maximum_acceleration(
             kLoadingAcceleration);