commit 77bf1fd443e97751e9bddc7ee5744afab20c68e6
author Niko Sohmers <nikolai@sohmers.com> Sat Mar 16 23:22:57 2024 -0700
committer Niko Sohmers <nikolai@sohmers.com> Tue Mar 19 16:50:53 2024 -0700
tree 50af9833408ca417e390bd55defecfb7b34ca54e
parent 6153b39adb8b84df7967c9d4ce239c881c418c1c

Add "disable_extend" bool to constants

Change-Id: Ibc839f913aa573655ad27aaeef9635ef2071d883
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 4421e15..79da980 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -181,18 +181,15 @@
   const bool disabled = turret_.Correct(turret_goal, position->turret(),
                                         turret_output == nullptr);
 
+  // Zero out extend goal and position if "disable_extend" is true
   collision_avoidance->UpdateGoal(
       {.intake_pivot_position = intake_pivot_position,
        .turret_position = turret_.estimated_position(),
-       .extend_position = extend_position},
-      turret_goal->unsafe_goal(), extend_goal);
-
-  if (!CatapultRetracted()) {
-    altitude_.set_min_position(
-        robot_constants_->common()->min_altitude_shooting_angle());
-  } else {
-    altitude_.clear_min_position();
-  }
+       .extend_position =
+           ((!robot_constants_->common()->disable_extend()) ? extend_position
+                                                            : 0.0)},
+      turret_goal->unsafe_goal(),
+      ((!robot_constants_->common()->disable_extend()) ? extend_goal : 0.0));
 
   if (!CatapultRetracted()) {
     altitude_.set_min_position(