added a spit out button
diff --git a/frc971/control_loops/index/index.cc b/frc971/control_loops/index/index.cc
index cf6aa8a..7460a36 100644
--- a/frc971/control_loops/index/index.cc
+++ b/frc971/control_loops/index/index.cc
@@ -1044,7 +1044,11 @@
if (output) {
output->intake_voltage = intake_voltage;
- output->transfer_voltage = transfer_voltage;
+ if (goal->override_transfer) {
+ output->transfer_voltage = goal->transfer_voltage;
+ } else {
+ output->transfer_voltage = transfer_voltage;
+ }
if (goal->override_index) {
output->index_voltage = goal->index_voltage;
} else {
diff --git a/frc971/control_loops/index/index_motor.q b/frc971/control_loops/index/index_motor.q
index b299b42..9530a4f 100644
--- a/frc971/control_loops/index/index_motor.q
+++ b/frc971/control_loops/index/index_motor.q
@@ -20,6 +20,8 @@
// If true, set the indexer voltage to index_voltage.
bool override_index;
double index_voltage;
+ bool override_transfer;
+ double transfer_voltage;
};
message Position {