commit 79903e885b2e88161fed67a05de6a5105d4003ce
author Austin Schuh <austin.linux@gmail.com> Sun Apr 07 23:12:00 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat May 04 20:22:16 2024 -0700
tree d784e0f7357f13338a1bcbfd9003f64bab444d3f
parent 9f609ff3a06069fe965e304de7a7c17d56e256cf

Tune speaker & shuttle shots

Includes ability to have more "stable" auto-aim shuttle shot that does
not rely on x/y of localizer.

Change-Id: I6b76cd8f8436b61bb2f40966dfa8e28a44e85297
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/control_loops/superstructure/aiming.h

diff --git a/y2024/control_loops/superstructure/aiming.h b/y2024/control_loops/superstructure/aiming.h
index 808a175..95e5840 100644
--- a/y2024/control_loops/superstructure/aiming.h
+++ b/y2024/control_loops/superstructure/aiming.h
@@ -67,7 +67,8 @@
                             y2024::constants::Values::ShotParams> *>
       interpolation_tables_ = {
           {AutoAimMode::SPEAKER, &interpolation_table_},
-          {AutoAimMode::SHUTTLE, &interpolation_table_shuttle_}};
+          {AutoAimMode::SHUTTLE, &interpolation_table_shuttle_},
+          {AutoAimMode::TURRET_SHUTTLE, &interpolation_table_shuttle_}};
 
   std::map<AutoAimMode, frc971::control_loops::Pose> red_alliance_goals_ = {
       {AutoAimMode::SPEAKER,
@@ -91,6 +92,18 @@
                   ->shooter_shuttle_targets()
                   ->red_alliance()
                   ->theta()),
+      },
+      {
+          AutoAimMode::TURRET_SHUTTLE,
+          frc971::control_loops::Pose(
+              frc971::ToEigenOrDie<3, 1>(*robot_constants_->common()
+                                              ->shooter_shuttle_targets()
+                                              ->red_alliance()
+                                              ->pos()),
+              robot_constants_->common()
+                  ->shooter_shuttle_targets()
+                  ->red_alliance()
+                  ->theta()),
       }};
 
   std::map<AutoAimMode, frc971::control_loops::Pose> blue_alliance_goals_ = {
@@ -115,6 +128,18 @@
                   ->shooter_shuttle_targets()
                   ->blue_alliance()
                   ->theta()),
+      },
+      {
+          AutoAimMode::TURRET_SHUTTLE,
+          frc971::control_loops::Pose(
+              frc971::ToEigenOrDie<3, 1>(*robot_constants_->common()
+                                              ->shooter_shuttle_targets()
+                                              ->blue_alliance()
+                                              ->pos()),
+              robot_constants_->common()
+                  ->shooter_shuttle_targets()
+                  ->blue_alliance()
+                  ->theta()),
       }};
 
   aos::Fetcher<aos::JoystickState> joystick_state_fetcher_;