Make the climber work on 9971 without a turret
It was waiting for the turret to rotate to extend. No turret -> no
rotation, so it would never extend.
Change-Id: I08cada253cbd0712110fc706900deddb19ef42b0
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/control_loops/superstructure/superstructure.cc b/y2020/control_loops/superstructure/superstructure.cc
index 4fb5c1d..b3c36f0 100644
--- a/y2020/control_loops/superstructure/superstructure.cc
+++ b/y2020/control_loops/superstructure/superstructure.cc
@@ -245,7 +245,8 @@
// the climber on.
CHECK(unsafe_goal->has_turret());
if (std::abs(unsafe_goal->turret()->unsafe_goal() -
- turret_.position()) > 0.1) {
+ turret_.position()) > 0.1 &&
+ has_turret_) {
output_struct.climber_voltage = 0;
}
}