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/shooter.cc

diff --git a/y2024/control_loops/superstructure/shooter.cc b/y2024/control_loops/superstructure/shooter.cc
index 7fb8973..6e1fc71 100644
--- a/y2024/control_loops/superstructure/shooter.cc
+++ b/y2024/control_loops/superstructure/shooter.cc
@@ -152,7 +152,7 @@
   frc971::shooter_interpolation::InterpolationTable<
       y2024::constants::Values::ShotParams> *interpolation_table =
       (shooter_goal != nullptr &&
-       shooter_goal->auto_aim() == AutoAimMode::SHUTTLE)
+       shooter_goal->auto_aim() != AutoAimMode::SPEAKER)
           ? &interpolation_table_shuttle_
           : &interpolation_table_;
   if ((piece_loaded || state_ == CatapultState::FIRING) &&